Vehicle control system, control method, controller, and vehicle

Abstract

The vehicle control system, control method, controller, and vehicle belong to the technical field of vehicles. The system includes a central controller (10) and a plurality of vehicle components, the plurality of vehicle components belonging to a plurality of different functional domains, the vehicle components in each functional domain being directly connected to the central controller (10), and power domains (21) in the plurality of different functional domains including a motor controller and a plurality of drive motors provided in one-to-one correspondence with the wheels and independently driving the wheels, and the central controller (10) transmits torque distribution information for each drive motor to the motor controller based on the vehicle driving scene.

Description

[Technical Field]

[0001] (Cross-reference of related applications) This disclosure claims priority to the Chinese patent application filed on September 11, 2023, with application number 202311170393.6, titled "Vehicle control system, control method, controller and vehicle," all of which are incorporated herein by reference.

[0002] This disclosure relates to the technology of vehicles, and more particularly to vehicle control systems, control methods, controllers, and vehicles. [Background technology]

[0003] As the automotive consumer market matures, safety, convenience, and energy efficiency are becoming increasingly important to end users. Advances in electronic technology facilitate the development of vehicle control technology, making it easier to achieve the goals of safety, convenience, and energy efficiency.

[0004] In related technologies, limitations in vehicle system architecture prevent the fulfillment of the demands for vehicle stability and flexible control, which is detrimental to safe vehicle operation. For example, in certain scenarios, if a tire puncture occurs during vehicle operation, stability control cannot be performed based on the puncture condition. [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] This disclosure aims to solve, at least to some extent, one of the technical challenges in related technologies. Therefore, the primary objective of this disclosure is to provide a vehicle control system.

[0006] The secondary purpose of this disclosure is to provide vehicles. [Means for solving the problem]

[0007] To achieve the above objective, a vehicle control system according to an embodiment of the first aspect of this disclosure includes a central controller and a plurality of vehicle components, the plurality of vehicle components belonging to a plurality of different functional domains, the vehicle components within each functional domain being directly connected to the central controller, the central controller transmitting first control information to at least one vehicle component, the first functional domain in the plurality of different functional domains being a power domain, the vehicle components within the power domain including a drive assembly, the drive assembly including a motor controller and a plurality of drive motors provided one-to-one with the wheels and driving the wheels independently, the first control information including at least torque distribution information for each drive motor, and the central controller transmitting torque distribution information to the motor controller based on the vehicle driving scene.

[0008] In the vehicle control system according to the embodiment of this disclosure, multiple vehicle components are divided into multiple different functional domains, and the vehicle components within each functional domain are directly connected to a central controller. The multiple different functional domains include a power domain, which includes a motor controller and multiple drive motors that are provided in one-to-one correspondence with the wheels and drive the wheels independently. The central controller transmits torque distribution information for each drive motor to the motor controller based on the vehicle driving scene. By directly connecting the vehicle components to the central controller in a communicative manner in this way, unified and coordinated control of each domain can be achieved, and communication delays can be reduced. At the same time, the vehicle system architecture design based on independent drive by four motors effectively improves the flexibility and stability of vehicle control, which is advantageous in meeting the demand for safer, more reliable, and convenient driving control of vehicles in driving scenes with special operating conditions.

[0009] To achieve the above objective, a vehicle control method according to an embodiment of a second aspect of the present disclosure includes a vehicle comprising a plurality of vehicle components, the plurality of vehicle components belonging to a plurality of different functional domains, the first functional domain in the plurality of different functional domains being a power domain, the vehicle components within the power domain comprising a drive assembly, the drive assembly comprising a motor controller and a plurality of drive motors provided in one-to-one correspondence with the wheels and driving the wheels independently, and the method comprising the steps of identifying a vehicle driving scene and transmitting torque distribution information for each drive motor to the motor controller based on the vehicle driving scene.

[0010] In the vehicle control method according to the embodiment of this disclosure, torque distribution information of each drive motor is transmitted to the motor controller based on the vehicle driving scene. Thus, by designing a vehicle system architecture based on independent drive by four motors, the flexibility and stability of vehicle control are effectively improved, which is advantageous in meeting the need for safer, more reliable, and convenient driving control of vehicles in driving scenes with special operating conditions.

[0011] To achieve the above objective, a vehicle controller according to an embodiment of a third aspect of this disclosure includes a memory, a processor, and a program stored in the memory and executable by the processor, and when the processor executes the program, the aforementioned vehicle control method is realized.

[0012] The vehicle controller according to the embodiment of this disclosure transmits torque distribution information of each drive motor to the motor controller based on the vehicle driving scene by executing the vehicle control method described above. Thus, by designing a vehicle system architecture based on independent drive by four motors, the flexibility and stability of vehicle control are effectively improved, which is advantageous in meeting the need for safer, more reliable, and convenient driving control of vehicles in driving scenes with special operating conditions.

[0013] To achieve the above objective, the vehicle according to the fourth embodiment of this disclosure includes the aforementioned vehicle control system.

[0014] According to the vehicle according to an embodiment of the present disclosure, by directly connecting vehicle components within a domain to a central controller communicably by means of the aforementioned vehicle control system, unified and coordinated control of each domain can be achieved while reducing communication delay. On the other hand, by designing a vehicle system architecture based on independent drive by four motors, the flexibility and stability of vehicle control can be effectively improved, which is advantageous for satisfying the demand for safer, more reliable, and more convenient driving control of a vehicle in an operation scene with special operating conditions.

[0015] Regarding additional aspects and advantages of the present disclosure, some are shown in the following description, some will become apparent in the following description, or some will be understood by implementing the present disclosure.

Brief Description of the Drawings

[0016] [Figure 1] It is a schematic configuration diagram of a vehicle control system according to an embodiment of the present disclosure. [Figure 2] It is a schematic configuration diagram of a vehicle control system according to another embodiment of the present disclosure. [Figure 3] It is a schematic configuration diagram of a vehicle control system according to another embodiment of the present disclosure. [Figure 4] It is a schematic configuration diagram of a plurality of drive assemblies according to an embodiment of the present disclosure. [Figure 5a] It is a schematic configuration diagram of a drive assembly according to an embodiment of the present disclosure. [Figure 5b] It is a schematic configuration diagram of a drive assembly according to another embodiment of the present disclosure. [Figure 6] It is a schematic mounting diagram of vehicle components within an intelligent driving domain according to an embodiment of the present disclosure. [Figure 7] It is a schematic configuration diagram of a central controller according to an embodiment of the present disclosure. [Figure 8] It is a control calculation flowchart when the vehicle is in a floating state and does not perform full stop according to an embodiment of the present disclosure. [Figure 9]This is a control calculation flowchart according to one embodiment of the present disclosure, in which the vehicle is in a levitated state and the steering wheel is turned while stationary in driver mode. [Figure 10] This is a control calculation flowchart for one embodiment of the present disclosure, where the vehicle is in a levitation state and the steering wheel is turned while stationary in automatic mode. [Figure 11] This is a schematic diagram of wheel torque distribution in differential operation conditions according to one embodiment of the present disclosure. [Figure 12] This is a schematic diagram of steering control fusion according to one embodiment of the present disclosure. [Figure 13] This is a schematic diagram of yaw-controlled fusion according to one embodiment of the present disclosure. [Figure 14] This is a schematic diagram of a longitudinal control fusion according to one embodiment of the present disclosure. [Figure 15] This is a schematic diagram of a vehicle control system according to another embodiment of the present disclosure. [Figure 16] This is a flowchart of a vehicle control method according to another embodiment of the present disclosure. [Figure 17] This is a schematic diagram of a vehicle controller according to one embodiment of the present disclosure. [Figure 18] This is a schematic diagram of a vehicle according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0017] The embodiments of this disclosure are described in detail below, and examples of these embodiments are shown in the drawings. Throughout, the same or similar reference numerals represent the same or similar parts, or parts having the same or similar function. The embodiments described below with reference to the drawings are illustrative only and should not be understood as limiting this disclosure.

[0018] The following describes the vehicle control system, control method, controller, and vehicle according to embodiments of this disclosure with reference to the drawings.

[0019] Figure 1 is a schematic diagram of a vehicle control system according to one embodiment of the present disclosure. As shown in Figure 1, the vehicle control system may include a central controller 10 and a plurality of vehicle components.

[0020] Multiple vehicle components belong to multiple different functional domains, and vehicle components within each functional domain are directly connected to a central controller 10, which transmits first control information to at least one vehicle component. The multiple different functional domains include a first functional domain 21, which is a power domain, and the vehicle components in the power domain include a drive assembly, which includes a motor controller and multiple drive motors that are provided in one-to-one correspondence with the wheels and drive the wheels independently, and the first control information includes torque distribution information for at least each drive motor, and the central controller 10 transmits torque distribution information to the motor controller based on the vehicle driving scene.

[0021] In the vehicle control system according to the embodiment of this disclosure, a plurality of vehicle components are divided into a plurality of different functional domains, and at least one vehicle component within each functional domain is directly connected to a central controller 10. The plurality of different functional domains include a power domain, and the power domain includes a plurality of drive motors provided in one-to-one correspondence with the wheels and driving the wheels independently, and a motor controller that controls the operation of the drive motors. In other words, the power domain includes a power architecture of four motors, and the central controller 10 transmits torque distribution information for each drive motor to the motor controller based on the vehicle driving scene, which is advantageous for the motor controller to control the operation of the corresponding drive motor based on the torque distribution information. By directly connecting the vehicle components to the central controller in a communicable manner, unified and coordinated control of each domain can be realized, and communication delay can be reduced. At the same time, the vehicle system architecture design based on independent drive by four motors can effectively improve the flexibility and stability of vehicle control, which is advantageous in meeting the demand for safer, more reliable, and convenient driving control of vehicles in driving scenes with special operating conditions. Furthermore, the electronics architecture in which the central controller is directly connected to the vehicle components of each functional domain reduces the communication load and improves communication efficiency for each functional domain. The central controller can acquire various state information of the vehicle in the fastest and most comprehensive way, providing strong data support for motor control in the power domain. The data fusion between each functional domain and the power architecture of the four motors can independently provide each motor with rapid and highly accurate motor torque, thereby increasing the degree of freedom and capability of vehicle control and improving vehicle control safety.Furthermore, the electronics architecture, in which the central controller is directly connected to the vehicle components of each functional domain, combined with the four-motor power architecture, improves real-time communication and communication security (redundancy security) through the electronics architecture, providing a foundation for information fusion, decision-making, execution, and redundancy. The addition of the four-motor power architecture provides additional rotational change information and torque information corresponding to each wheel, and allows for independent control of the torque of each wheel, offering the possibility of expanding sensing and execution. The rotational change provides more real-time and accurate wheel rotation speed, the real-time feedback of torque information for each wheel provides a more accurate reference for calculating the relationship between the wheel and the ground, and the characteristic of fast motor torque response offers the possibility of rapid and accurate control. By combining the conventional domains with the electronics architecture and the four-motor power architecture, it is possible to achieve rapid and accurate identification of information, rapid decision-making (all decisions are made by the central controller and are not differentiated by level), and rapid, accurate, and stable execution, ultimately building the ultimate safety of the vehicle.

[0022] Specifically, vehicle components may include ECUs (Electronic Control Units) and execution components, such as sensors or actuators in a vehicle. The ECU is located inside the vehicle component and provides electronic control functions to the vehicle component, such as a motor controller in a drive assembly, a brake controller in a brake system, a steering controller in a steering system, and a suspension controller in a suspension system. Each functional domain is a virtual domain formed by dividing multiple vehicle components within a vehicle. The vehicle components included in each virtual functional domain are directly connected to the central controller 10. This eliminates the need for separate domain controllers, reduces communication delays when identifying sensing information and execution commands, and improves the real-time nature of signals. The central controller 10 integrates the information from each domain, resolving the problem in related technologies where each domain controller behaves independently and has low coordination. This enables centralized data processing, centralized decision-making, and coordinated execution, providing strong assurance for stable and flexible operation of the vehicle. Furthermore, it performs only minimal information routing necessary between each domain, reducing redundant communication of the same information between domains, decreasing the amount of data interface data, reducing communication load, and improving communication accuracy.

[0023] Exemplary, as shown in Figure 1, the multiple different functional domains include a first functional domain 21, a second functional domain 22, a third functional domain 23, ..., and an N functional domain 2N (where N is an integer greater than 1). Vehicle components within each functional domain are directly connected to the central controller 10 in a communicable manner via a local area network or Ethernet, and the local area networks for each functional domain may be the same or different, and are not limited thereto. For example, vehicle components in the first functional domain 21 communicate with the central controller 10 via a local area network such as CAN, vehicle components in the second functional domain 22 communicate with the central controller 10 via a local area network such as CAN, and vehicle components in the third functional domain 23 communicate with the central controller 10 via a local area network such as CAN or Ethernet. Because vehicle components within each functional domain are directly connected to the central controller 10, communication delay can be reduced and the real-time nature of communication can be improved.

[0024] As an example, as shown in Figure 2, the multiple different functional domains include a first functional domain 21, a second functional domain 22, and a third functional domain 23, where the first functional domain 21 is the power domain, the second functional domain 22 is the chassis domain, and the third functional domain 23 is the intelligent driving domain. The power domain primarily optimizes the vehicle's power expression and ensures the vehicle's power safety, and its functions include, but are not limited to, battery management, power distribution management, speed limit management, engine management, and energy saving management. The chassis domain primarily controls the vehicle's driving behavior and attitude, and its functions include, but are not limited to, brake system management, steering system management, suspension system management, and airbag system management. The intelligent driving domain primarily realizes and controls the vehicle's autonomous driving functions and needs to have the ability to receive, process, and judge image information, navigation and route planning capabilities, and the ability to make quick judgments and decisions regarding real-time situations.

[0025] Vehicle components within the power domain are directly and communicably connected to the central controller 10 via CAN, vehicle components within the chassis domain are directly and communicably connected to the central controller 10 via CAN, vehicle components within the intelligent driving domain are directly and communicably connected to the central controller 10 via CAN or Ethernet, and vehicle components within each functional domain are directly connected to the central controller 10, thereby reducing communication delay and improving the real-time nature of communication. The power domain includes a drive motor provided for each wheel, which can provide forward or reverse torque, and the drive motor corresponding to each wheel can be controlled independently, so that independent driving of each wheel can be achieved based on the drive motor. For example, different wheels may be driven by torque in different directions or of different magnitudes, thereby improving the flexibility and stability of vehicle control, which is advantageous in meeting the need for safer, more reliable, and convenient driving control of the vehicle in driving scenes with special operating conditions. For example, driving scenes include, but are not limited to, puncture scenes, lift-off scenes, and slip prevention scenes.

[0026] As one specific example, as shown in Figure 3, a vehicle has multiple vehicle components, such as a drive assembly, brake system, steering system, inertia measurement unit, steering wheel rotation angle sensor, battery and its management system, and wheel speed sensor. Note that this figure is for illustrative purposes only, and some vehicle components are not specifically shown, but this does not limit the present invention. By classifying multiple vehicle components on a vehicle, multiple functional domains such as a power domain, chassis domain, and intelligent driving domain can be obtained.

[0027] The power domain mainly includes a drive assembly, battery and battery management system, and may be connected to the central controller 10 via a power domain communication node. Preferably, the power domain may further include an engine, charging system, etc., specifically determined on a vehicle type basis. The drive assembly can increase the degree of freedom and capability of vehicle control and improve vehicle control safety by using a four-motor power architecture to independently provide rapid and highly accurate torque to each wheel, and as shown in Figures 3-4, the drive assembly may consist of a front drive assembly and a rear drive assembly that have the same structure.

[0028] Exemplary, as shown in Figure 5a, the front drive assembly and the rear drive assembly each include two drive motors, two reduction torque transmission devices (e.g., speed reducers), one controllable differential lock, and one motor controller, with the two drive motors located at opposite ends of the corresponding drive assembly, each drive motor transmitting power to the corresponding wheel via a connected reduction torque transmission device, and the controllable differential lock located in the middle of the two reduction torque transmission devices.

[0029] Furthermore, let's take the front drive assembly as an example. The front drive assembly mainly consists of a left front drive motor, a left front reduction torque transmission device, a right front drive motor, a right front reduction torque transmission device, a controllable front differential lock, and a front motor controller. The left and right front drive motors are located at both ends of the front drive assembly, and they transmit power to the corresponding wheels via the left and right front reduction torque transmission devices, respectively. This architectural arrangement effectively reduces transmission vibrations and provides system reliability and durability. The controllable front differential lock is located between the left and right front reduction torque transmission devices.The left front drive motor can rotate forward or backward and provide forward or reverse torque to the left front wheel, the left front deceleration torque transmission device enables rotational speed and torque transmission from the left front drive motor to the left front wheel, and enables deceleration and torque increase from the left front drive motor to the left front wheel during the transmission process, the right front drive motor can rotate forward or backward and provide forward or reverse torque to the right front wheel, the right front deceleration torque transmission device enables rotational speed and torque transmission from the right front drive motor to the right front wheel, and enables deceleration and torque increase from the right front drive motor to the right front wheel during the transmission process, the controllable front differential lock can or cannot synchronize the left front deceleration torque transmission device and the right front deceleration torque transmission device, and when the controllable front differential lock is locked, it synchronizes the left front deceleration torque transmission device and the right front deceleration torque transmission device, and further enables synchronization of the wheel speeds of the left front wheel and the right front wheel, and the left front drive motor and the right front drive motor Sharing torque, the front motor controller is responsible for driving the left front drive motor and the right front drive motor, and can respond to rotational speed or torque control requests from an external controller. The front motor controller is also responsible for driving control of the controllable front differential lock and can respond to lock or unlock request commands from an external controller. When the controllable front differential lock is not locked, the left front drive motor and the right front drive motor can operate independently. The left front drive motor is equipped with a resolver, which can sense the rotational speed information of the left front drive motor and calculate highly accurate left front wheel speed information based on the physical parameter information of the left front reduction torque transmission device and the rotational speed information of the left front drive motor. The right front drive motor is equipped with a resolver, which can sense the rotational speed information of the right front drive motor and calculate highly accurate right front wheel speed information based on the physical parameter information of the right front reduction torque transmission device and the rotational speed information of the right front drive motor. If either the left front drive motor or the right front drive motor fails, normal driving of the vehicle's front axles can be achieved by lock control of the controllable front differential lock.

[0030] Furthermore, the front and rear drive assemblies may utilize the architecture shown in Figure 5b, which integrates two drive motors in the middle and has two reduction torque transmission devices on either side of the drive motors, achieving an integrated design for the overall form, improving multi-platform and multi-polar vehicle applicability, and increasing the power density of the assembly, which will not be described in detail here.

[0031] The battery is responsible for supplying power to each drive motor and collecting regenerative electrical energy generated by each drive motor during regenerative braking. It can supply power to or collect regenerative braking electrical energy to only the same drive motor at the same time, and the battery's simultaneous power supply to each drive motor and collection of regenerative braking electrical energy are independent of each other. The battery management system is responsible for managing the battery's performance and charge / discharge efficiency, and can adjust the battery's charge / discharge performance in response to requests from an external controller.

[0032] The chassis domain is related to the vehicle's operation and implements the vehicle's steering, braking, and suspension control. It mainly consists of a braking system, steering system, suspension system, steering wheel rotation angle sensor, inertia measurement unit, etc., and may be connected to the central controller 10 via a chassis domain communication node.

[0033] The brake system mainly consists of a brake pedal, brake controller, brake line, brake and wheel speed sensors, etc. The brake pedal is mechanically connected to the brake controller push rod and can represent the driver's braking needs by promoting the movement of the brake controller push rod. The brake line is responsible for transmitting brake fluid from the brake controller to each brake. The brakes are the devices that realize braking force, generating hydraulic braking force on each wheel through the action of brake fluid. The brake controller includes a pressure detection device, hydraulic pressure adjustment device, push rod stroke detection device, brake controller, etc., and can identify the driver's braking needs, build active pressure, and independently control the pressure of each brake. The wheel speed sensor may be a dual-chip wheel speed sensor, which can provide two independent wheel speed information. One of the wheel speed information is directly connected to the brake controller, and the other is connected to the central controller 10. Wheel speed sensors are provided on each wheel and the connection method is the same. The inertial measurement unit is directly connected to the brake controller of the brake system. The brake controller transmits processed six-degree-of-freedom inertia information, wheel speed information, pressure information, etc., to the central controller 10, enabling independent brake control and stability control of the vehicle, and allowing independent adjustment of the pressure of each brake in response to the demands of the external controller.

[0034] The steering system mainly consists of a steering wheel, steering column, steering gear, motor assist device, and steering rod, and may be a conventional front-axle steering assist system or a front-axle steer-by-wire system. The steering system can perform steering control in response to steering demands input by the driver via the steering wheel, and in response to rotation angle control requests from an external controller, it can provide actual steering axis rotation angle information and transmit it to the central controller 10 externally in the form of equivalent steering wheel rotation angle information.

[0035] The suspension system is an active suspension control system including suspensions and a suspension controller. The suspension system is equipped with height sensors that independently sense the suspension height information of the corresponding wheels and are directly connected to the suspension controller, enabling suspension height adjustment and damping adjustment. The suspension controller is responsible for driving the suspensions and can respond to height and damping adjustment requests for each suspension from an external controller.

[0036] The steering wheel rotation angle sensor acquires steering wheel rotation angle information and is directly connected to the central controller 10.

[0037] As shown in Figure 6, the intelligent driving domain mainly consists of sensing components such as radar, cameras, and high-precision positioning devices, as well as an intelligent driving controller. The radar may include laser radar, forward long-range millimeter-wave radar, medium-range millimeter-wave radar, and ultrasonic radar, enabling detection of moving and stationary objects at long, medium, and short distances around the vehicle and rendering the surrounding environment in real time. The cameras mainly include front cameras, rear cameras, test cameras, and surround cameras, enabling identification of moving and stationary objects at long and short distances around the vehicle. The high-precision positioning device can provide information such as the vehicle's real-time position and speed. The intelligent driving controller may include at least two units to ensure the safety of intelligent driving information sensing and backup decision-making.

[0038] As shown in Figure 7, the central controller 10 mainly consists of a power supply unit, data storage device, processor and input / output processing unit, and inertial measurement unit. The power supply unit has two independent power supplies, power supply 1 and power supply 2, which can maximize the power supply safety of the central controller 10. The processor is a redundant processor consisting of a main processor and a backup processor. Normal data processing is performed by mutual verification, and if one of the processors fails, the remaining normal processor can still operate. Both the main processor and the backup processor are provided with independent data storage devices. The input / output processing unit includes one Ethernet interface, eight CAN-FD (Controller Area Network Flexible Data Rate, an extension of the CAN bus) communication interfaces, and multiple drive interfaces, and can be connected to intelligent driving domains, chassis domains, power domains, sensors, and actuators as needed to realize information interaction processing and control. The inertial measurement unit is connected to the drive interface of the input / output unit and can provide the central controller 10 with six-degree-of-freedom inertial information based on the vehicle's center of gravity. The processor and power supply safety levels of the central controller 10 can both reach ASIL (Automotive Safety Integration Level) D.

[0039] Vehicle components within the power domain, chassis domain, and intelligent driving domain are each directly and communicatively connected to the central controller 10. Communication between vehicle components in the power domain and the central controller 10, and between vehicle components in the chassis domain and the central controller 10, is local area network communication, such as CAN-FD. Communication between vehicle components in the intelligent driving domain and the central controller 10 may be local area network communication or Ethernet communication, specifically determined based on the amount of data to be transmitted. As the core of the system, the central controller 10 can realize data fusion for multiple functional domains, such as sensing fusion, decision fusion, and control fusion, generate control information, transmit control information to each functional domain, and realize coordinated control of vehicle components in multiple functional domains.

[0040] Specifically, when performing sensing fusion, the intelligent driving controller in the intelligent driving domain preprocesses sensing information from sensing components such as radar, cameras, and high-precision positioning devices; the motor controller in the power domain preprocesses the actual driving torque and rotational change information of each wheel; the brake controller in the chassis domain preprocesses the actual brake torque of each wheel, wheel speed, and vehicle's six-degree-of-freedom inertia information; the steering controller in the chassis domain preprocesses the wheel rotation angle of each wheel; each functional domain transmits the preprocessed data to the central controller 10; the central controller 10 performs centralized fusion based on the data transmitted from each functional domain and the data from the directly connected inertial measurement unit and wheel speed sensor, ultimately obtaining accurate and predictable vehicle state data, ground state data, etc., realizing distributed processing of complex information, demonstrating cooperation, reducing the workload of the central controller 10, and improving centralized fusion efficiency.

[0041] When performing decision-making fusion, the central controller 10 can make control decisions based on vehicle state data, ground state data, etc., acquired through sensing fusion, combined with motion execution capabilities fed back from control fusion, prioritizing certain performance aspects such as power, comfort, and control. By combining this with vehicle surrounding space data acquired through sensing fusion to create an optimal trajectory plan, it can either provide driving suggestions to the driver or determine the optimal driving trajectory in autonomous driving mode. The versatility of control fusion provides more trajectory execution possibilities for decision-making plans, improving the convenience of vehicle use and safety performance in extreme situations.

[0042] When performing control fusion, the motor controller in the power domain estimates the drive motor torque execution capability of each wheel, the steering system in the chassis domain estimates the steering wheel rotation angle execution capability, and the brake system in the chassis domain estimates the hydraulic brake torque and master cylinder brake torque execution capabilities of each wheel. The central controller 10 re-evaluates and centrally analyzes the execution capabilities of each functional domain, and utilizing the characteristic of fast response of the power architecture of the four motors, compensates for and fuses with the execution capability of the chassis domain to form a systematic motion execution capability including longitudinal torque execution capability, steering execution capability and yaw torque execution capability, providing a basis for the decision-making of the central controller 10. After a decision command is issued from the central controller 10, it is broken down into actuators of specific domains, achieving a balance between response speed and stability, and further improving the safety performance of the vehicle. In addition, if the brake system or steering system in the chassis domain is unable to operate, the steering and braking capabilities required for the vehicle can be realized based on the power architecture of the four motors in the power domain, improving safety performance in emergency situations. Furthermore, the control fusion has expandability, and after the active suspension control system is implemented, it can achieve the fusion of vertical performance capabilities, further improving the comfort and safety performance of the vehicle. The central controller 10 also generates torque distribution information for each drive motor in the power architecture of the four motors of the power domain based on the vehicle driving scene, and further, based on the torque distribution information, the power architecture of the four motors of the power domain can realize the need for safer, more reliable, and convenient driving control of the vehicle in driving scenes with special operating conditions. In this way, it is advantageous to realize coordinated control of multiple functional domains based on the central controller, further fulfilling the user's demand for safety in vehicle use, and it is also possible to significantly reduce the communication load of each functional domain, improve communication efficiency, and improve the versatility of each functional domain.

[0043] In some embodiments, the torque distribution information includes at least the target torque for each drive motor, where the target torque includes the torque sign and torque magnitude.

[0044] Specifically, the central controller 10 can generate a target torque for each drive motor in the power architecture of the four motors in the power domain based on the vehicle driving scene. This target torque may be forward or negative, and the torque magnitude and torque direction of each drive motor may be the same or different. Furthermore, by differentially controlling the corresponding drive motors by the motor controller based on the target torque of each drive motor, the flexibility and stability of vehicle control can be effectively improved, which is advantageous in meeting the need for safer, more reliable, and convenient vehicle driving control in driving scenes with special operating conditions.

[0045] In some embodiments, the central controller 10 further acquires the total demand torque for each drive motor based on the vehicle driving scene, and acquires the target torque for each drive motor by distributing the total demand torque based on the vehicle state information of the vehicle in the current driving scene.

[0046] Specifically, during the vehicle's driving process, one or more special driving scenes may occur, including, but are not limited to, puncture scenes, lift-off scenes, and slip prevention scenes. The central controller 10 generates relevant vehicle control information based on actual driving demands during the vehicle's driving process and controls the vehicle's drive assembly, brake system, steering system, and suspension system, thereby enabling safe and stable driving. In this process, the controller identifies the vehicle driving scenes based on vehicle-related information obtained from multiple functional domains and corrects the torque of the power architecture of the four motors of the drive assembly for these vehicle driving scenes, thereby achieving safe and stable driving in special driving scenes.

[0047] The central controller 10 determines the total demand torque for each drive motor based on the actual driving demand, and then distributes the total demand torque based on vehicle state information in the actual driving scenario to obtain the target torque for each drive motor, including the torque magnitude and torque direction. The vehicle state information includes, but is not limited to, the vehicle's current speed, current six-degree-of-freedom inertia information, steering wheel rotation angle, steering wheel rotation angle, longitudinal acceleration, current wheel speed and acceleration of each wheel, tire pressure, drive torque, and brake torque.

[0048] For example, vehicle driving scenes include, but are not limited to, puncture scenes, lift-off scenes, and slip prevention scenes. Taking a puncture scene as an example, assuming the vehicle is currently traveling straight at a constant speed on a flat road, the central controller 10 can determine the total demand torque for each drive motor based on the driver's current driving demand. If the vehicle does not have a puncture, the central controller 10 can obtain the target torque for each drive motor by distributing the total demand torque using the average distribution method. If the vehicle has a puncture, the central controller 10 does not distribute the total demand torque using the average distribution method, but reduces or does not distribute torque to the drive motor corresponding to the punctured wheel, thereby avoiding vehicle instability and achieving safer, more reliable, and convenient driving control.

[0049] In some embodiments, the vehicle driving scene includes a vehicle tire puncture scene, and the central controller 10 obtains the target corrected reverse torque for each drive motor based on the vehicle tire puncture scene, and obtains the target corrected reverse torque for each drive motor by distributing the target corrected reverse torque based on the vehicle state information in the vehicle tire puncture scene.

[0050] Specifically, in related technologies, when a vehicle experiences a flat tire, the direction of rotation of the vehicle is determined based on the steering wheel rotation angle, yaw rate, and center of gravity slip angle, and vehicle stabilization control is performed using ESP (Electronic Stability Program) brakes or ABS (Antilock Brake System) brakes. However, ESP brakes or ABS brakes alone cannot cover the extra yaw caused by extreme operating conditions such as a flat tire, and stabilization control may be performed using the brakes on the flat wheel. If the brake system fails, vehicle stabilization control cannot be performed. Based on this, in some embodiments of this disclosure, when a vehicle experiences a flat tire, the vehicle is stabilized and braked to decelerate by making full use of the control advantage that the power architecture of the four motors in the power domain can be driven independently.

[0051] For example, if a vehicle experiences a flat tire, the central controller 10 acquires a target corrected reverse torque (i.e., target corrected feedback torque) for the vehicle's flat tire. Based on vehicle state information in the flat tire scenario, such as the punctured wheel, current vehicle speed, current yaw rate, and steering wheel rotation angle, the controller distributes the target corrected reverse torque to acquire the target reverse torque for each drive motor. This is advantageous for stabilizing the vehicle and braking it down using the feedback braking characteristics of each drive motor based on the target reverse torque.

[0052] Thus, after a vehicle punctures, the power architecture of the four motors can be driven independently, and this control advantage is fully utilized. By using a feedback brake control method, the vehicle can be stabilized and braked to decelerate, thereby expanding the scope of puncture brake control and improving response speed and control accuracy compared to hydraulic brake systems.

[0053] In some embodiments, the central controller 10 determines a first corrected reverse torque based on the current vehicle speed, a second corrected reverse torque based on the difference between the target yaw rate and the current yaw rate, and a target corrected reverse torque based on the first corrected reverse torque and the second corrected reverse torque.

[0054] Specifically, the current vehicle speed may be obtained by fusing the first wheel speed of each wheel in the power domain, the second wheel speed and first six-degree-of-freedom inertial information of each wheel in the chassis domain, the third wheel speed and second six-degree-of-freedom inertial information of each wheel of the vehicle component directly connected to the central controller 10, and the first vehicle speed of the intelligent driving domain, as shown below. The first vehicle speed may be used as the current vehicle speed, and the current vehicle speed obtained by fusing is preferred because it has higher accuracy. Similarly, the current yaw rate may be obtained from the current six-degree-of-freedom inertial information obtained by fusing the first six-degree-of-freedom inertial information of the chassis domain and the second six-degree-of-freedom inertial information of the vehicle component directly connected to the central controller 10, as shown below. The current yaw rate may be obtained from the first six-degree-of-freedom inertial information or the second six-degree-of-freedom inertial information, and it is preferred to obtain it based on the current six-degree-of-freedom inertial information because it has higher accuracy.

[0055] If a vehicle experiences a flat tire, the central controller 10 can obtain the front wheel rotation angle by searching a steering-front wheel rotation angle relationship table based on the steering wheel rotation angle. This table may be pre-acquired through calibration, and the target yaw rate is calculated based on the front wheel rotation angle and the current vehicle speed using the following formula.

number

[0056] The central controller 10 obtains the basic corrective reverse torque, i.e., the first corrective reverse torque, necessary to correct vehicle instability at the current vehicle speed, as feedforward control by searching a pre-calibrated vehicle speed-basic reverse corrective torque relationship table based on the current vehicle speed. It also obtains the PID corrective reverse torque, i.e., the second corrective reverse torque, necessary to adjust the vehicle to reach the target yaw rate by performing PID (Proportional Integral Derivative) adjustment on the difference between the vehicle's current yaw rate and the target yaw rate, as feedback control. Finally, it can obtain the target corrective reverse torque by calculating the weighted values ​​of the first corrective reverse torque and the second corrective reverse torque, for example, their sum.

[0057] In this way, by utilizing a feedforward + feedback control closed loop, the vehicle is stabilized and slowed down by responding to the extra yaw caused by a puncture.

[0058] In some embodiments, the central controller 10 further determines the reverse torque distribution coefficient for each drive motor based on the vehicle steering state and vehicle state information, and determines the target reverse torque for each drive motor based on the reverse torque distribution coefficient and the target corrected reverse torque.

[0059] Specifically, the vehicle steering state includes understeer, oversteer, and neutral states, and can be determined based on the yaw rate difference between the current yaw rate and the target yaw rate. If the absolute value of the yaw rate difference is less than a predetermined threshold, the vehicle is considered to be in a neutral state. If the current yaw rate and the target yaw rate are the same sign, the yaw rate difference is less than zero, and the absolute value of the yaw rate difference is greater than a predetermined threshold, the vehicle is considered to be in an oversteer state. Conversely, the vehicle is considered to be in an understeer state.

[0060] The central controller 10 determines the reverse torque distribution coefficient for the drive motor corresponding to each wheel based on the vehicle steering state and the punctured wheel, and then distributes a target corrected reverse torque based on the reverse torque distribution coefficient to obtain the target reverse torque for the drive motor corresponding to each wheel.

[0061] In some embodiments, the central controller 10 determines that when the vehicle steering state is understeer, the reverse torque distribution coefficient of the drive motor corresponding to the punctured wheel is zero, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel is greater than zero, and the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel on the same side as the punctured wheel is the highest; when the vehicle steering state is oversteer, the reverse torque distribution coefficient of the drive motor corresponding to the punctured wheel is zero, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel is greater than zero, and if the front wheel is punctured, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel coaxial with the punctured wheel is the highest; and if the rear wheel is punctured, the reverse torque distribution coefficient of the drive motor corresponding to the normal front wheel on the opposite side of the punctured wheel is the highest.

[0062] Specifically, when a front tire is punctured, if the vehicle is currently understeering, the reverse torque will no longer be distributed to the punctured front tire, the target corrected reverse torque will be distributed to the other normal wheels, and the distribution ratio of the rear wheels on the same side as the front tire will become higher. If the vehicle is currently oversteering, the reverse torque will no longer be distributed to the punctured front tire, the target corrected reverse torque will be distributed to the other normal wheels, and the distribution ratio of the other front wheel coaxial with the front tire will become higher. When a rear tire is punctured, if the vehicle is currently understeering, the reverse torque will no longer be distributed to the punctured rear tire, the target corrected reverse torque will be distributed to the other normal wheels, and the distribution ratio of the front wheels on the same side as the rear tire will become higher. If the vehicle is currently oversteering, the reverse torque will no longer be distributed to the punctured rear tire, the target corrected reverse torque will be distributed to the other normal wheels, and the distribution ratio of the front wheels on the opposite side of the rear tire will become higher.

[0063] For illustrative purposes, let's consider the left front wheel. If the left front wheel is punctured and the vehicle is currently understeering, the target correction reverse torque is distributed to the other three wheels, with a higher distribution ratio for the left rear wheel. If the vehicle is currently oversteering, the target correction reverse torque is distributed to the other three wheels, with a higher distribution ratio for the right front wheel.

[0064] Furthermore, if the vehicle is currently in a neutral position, reverse torque will not be distributed to the punctured wheel, and the target correction reverse torque will be evenly distributed to the other normal wheels.

[0065] After determining the reverse torque distribution coefficient for the drive motor corresponding to each wheel based on the vehicle's steering state and the punctured wheel, the target reverse torque for the drive motor corresponding to each wheel can be obtained by multiplying the reverse torque distribution coefficient by the target corrected reverse torque. For example, the target reverse torque for the drive motor corresponding to the left front wheel = target corrected reverse torque × reverse torque distribution coefficient for the drive motor corresponding to the left front wheel, the target reverse torque for the drive motor corresponding to the right front wheel = target corrected reverse torque × reverse torque distribution coefficient for the drive motor corresponding to the right front wheel, the target reverse torque for the drive motor corresponding to the left rear wheel = target corrected reverse torque × reverse torque distribution coefficient for the drive motor corresponding to the left rear wheel, and the target reverse torque for the drive motor corresponding to the right rear wheel = target corrected reverse torque × reverse torque distribution coefficient for the drive motor corresponding to the right rear wheel.

[0066] In some embodiments, the central controller 10 can further activate an internal corresponding torque distribution control module to perform the aforementioned torque distribution based on the vehicle's target rotation direction and vehicle puncture status.

[0067] The target direction of rotation of a vehicle may be determined based on the rotation angle of the front wheels. For example, if -1 × a predetermined threshold for the rotation angle of the front wheels > the rotation angle of the front wheels, the target direction of rotation is a left turn. If -1 × a predetermined threshold for the rotation angle of the front wheels ≤ the rotation angle of the front wheels ≤ a predetermined threshold for the rotation angle of the front wheels, the target direction of rotation is going straight. If a predetermined threshold for the rotation angle of the front wheels < the rotation angle of the front wheels, the target direction of rotation is a right turn.

[0068] The torque distribution control module may be a virtual module within the central controller 10, and may include a left-turn torque distribution control module, a straight-ahead torque distribution control module, and a right-turn torque distribution control module, and each module may include a left-turn torque distribution control sub-module and a right-turn torque distribution control sub-module, respectively.

[0069] The central controller 10 first selects a corresponding torque distribution control module based on the vehicle's target rotation direction, and then, based on the vehicle's tire condition, further activates a torque distribution control submodule within the selected torque distribution control module, allowing the torque distribution submodule to perform the torque distribution.

[0070] For example, if the target direction of rotation is a left turn, the left-turn torque distribution control module is selected. If the vehicle puncture is on the left side, the left-turn torque distribution control submodule within the left-turn torque distribution control module is activated. If the vehicle puncture is on the right side, the right-turn torque distribution control submodule within the left-turn torque distribution control module is activated. If the target direction of rotation is straight, the straight-ahead torque distribution control module is selected. If the vehicle puncture is on the left side, the left-turn torque distribution control submodule within the straight-ahead torque distribution control module is activated. If the vehicle puncture is on the right side, the right-turn torque distribution control submodule within the straight-ahead torque distribution control module is activated. If the target direction of rotation is a right turn, the right-turn torque distribution control module is selected. If the vehicle puncture is on the left side, the left-turn torque distribution control submodule within the right-turn torque distribution control module is activated. If the vehicle puncture is on the right side, the right-turn torque distribution control submodule within the right-turn torque distribution control module is activated. Furthermore, the aforementioned torque distribution is performed based on the activated torque distribution control submodule.

[0071] In some embodiments, after obtaining the target reverse torque of the drive motor corresponding to each wheel, further limit processing may be performed on the target reverse torque. For example, if the target reverse torque is less than or equal to the smaller of the vehicle's current maximum reverse torque limit and corrected torque limit, the target reverse torque is set as the final target reverse torque; otherwise, the smaller of the two limits is set as the final target reverse torque. Furthermore, by performing smoothing vibration damping processing on the target reverse torque after limit processing, the smoothness in the vehicle control process can be increased, vehicle vibrations can be reduced, and the user's riding experience can be improved.

[0072] In some embodiments, the central controller 10 further acquires the total demand torque of each drive motor and determines the target torque of each drive motor based on the total demand torque and target reverse torque of each drive motor.

[0073] Specifically, in the event of a vehicle puncture, the central controller 10 obtains the total demand torque of the drive motors corresponding to each wheel necessary for the vehicle's operation. At the same time, based on the undesired yaw rate caused by the vehicle puncture, it calculates the target reverse torque of the drive motors corresponding to each wheel using the aforementioned method, and then adds the two together to obtain the target torque of the drive motors corresponding to each wheel.

[0074] There are various methods for obtaining the total demand torque of the drive motors corresponding to each wheel. For example, if the left front tire is flat, the total demand torque of the left front wheel = vehicle demand torque × front / rear demand torque distribution coefficient, the total demand torque of the right front wheel = vehicle demand torque × front / rear demand torque distribution coefficient, the total demand torque of the left rear wheel = vehicle demand torque × (1 - front / rear demand torque distribution coefficient) × left / right demand torque distribution coefficient + reverse-direction capacity limiting torque, and the total demand torque of the right rear wheel = vehicle demand torque × (1 - front / rear demand torque distribution coefficient) × (1 - left / right demand torque distribution coefficient). Note that the front / rear demand torque distribution coefficient refers to the front and rear axle wheels of the vehicle, specifically the front axle demand torque distribution coefficient, and can be obtained by measuring it in advance. The left / right demand torque distribution coefficient refers to the left and right wheels of the vehicle, specifically the left demand torque distribution coefficient, and can be obtained by measuring it in advance.

[0075] After calculating the total demand torque and target reverse torque for the drive motors corresponding to each wheel, the central controller 10 adds these two together to obtain the target torque for the drive motor corresponding to each wheel. Finally, the central controller 10 transmits the calculated target torque for the drive motor corresponding to each wheel to the motor controller, which then controls the corresponding drive motor.

[0076] In the above embodiment, after a vehicle punctures, the vehicle's current yaw rate, steering wheel rotation angle, and current vehicle speed are used to determine the vehicle's state, calculate a target correction reverse torque, perform skew correction, and use feedback brake torque to stabilize the vehicle and ensure braking and deceleration. The advantages of independent control of the four motors are fully utilized, and the feedback brake control method differentially adjusts the torque of the non-punctured wheels, broadening the boundary of puncture brake control, and improving both response speed and control accuracy compared to the hydraulic brake system.

[0077] In some embodiments, the vehicle driving scene includes a vehicle levitation scene, and when the vehicle is in a levitation state, the central controller 10 uses a motion control algorithm to determine the pre-controlled torque and torque correction amount for each wheel based on the target yaw rate, the current yaw rate, the pre-controlled target wheel speed for each wheel, and the current wheel speed, and determines the target torque for each drive motor based on the pre-controlled torque and torque correction amount for each wheel.

[0078] Specifically, amphibious control policies in related technologies are generally divided into only normal driving modes and wading driving modes. In the floating state, the vehicle's attitude cannot be controlled by torque control alone. Therefore, how to control the control accuracy and control response characteristics of a floating vehicle is an urgent issue that needs to be resolved. Based on this, in some embodiments of this disclosure, when the vehicle is floating, the control advantage of being able to drive the power architecture of the four motors independently is fully utilized, and dual closed-loop control is performed on the vehicle to achieve vehicle floating with high control accuracy and control response characteristics.

[0079] For information on obtaining the current yaw rate, please refer to the above. The current wheel speed may be obtained by fusing the first wheel speed of each wheel in the power domain, the second wheel speed of each wheel in the chassis domain, and the third wheel speed of each wheel of the vehicle component directly connected to the central controller 10, as described below. Alternatively, the first wheel speed, second wheel speed, or third wheel speed may be used directly as the current wheel speed. However, the current wheel speed obtained by fusing is preferred because it provides higher accuracy.

[0080] When the central controller 10 determines that the vehicle is in a levitation state, it first determines the target wheel speed correction amount for each wheel using a first motion control algorithm based on the vehicle's target yaw rate and current yaw rate. Next, it determines the pre-controlled torque and torque correction amount for each wheel using a second motion control algorithm based on the pre-controlled target wheel speed, current wheel speed, and target wheel speed correction amount for each wheel. Finally, it determines the target torque of the drive motor corresponding to each wheel based on the pre-controlled torque and torque correction amount for each wheel.

[0081] Thus, taking advantage of the control benefit of being able to drive the power architecture of the four motors independently, a complete dual closed-loop control circuit is formed based on dual closed-loop control technology means of wheel speed closed-loop and yaw rate closed-loop, and is composed of wheel speed and yaw rate, and is jointly composed of feedforward control and controller feedback control formed by pre-defined control torque / wheel speed, resulting in high control accuracy and control response characteristics.

[0082] The method of sequentially determining the target wheel speed correction amount, pre-controlled torque, and torque correction amount for each wheel using different motion control methods can employ various implementation methods, and specifically relates to the vehicle's current driving state. For example, in a deep water scene, a floating vehicle can be divided into non-stationary driving and stationary driving, and non-stationary driving may specifically include straight-line driving, gentle turns during straight-line driving, or skew correction. Taking into full consideration the characteristics of the power architecture of the four motors, which provide fast control feedback and can be controlled independently, some embodiments of this disclosure propose different water-floating driving control policies for non-stationary driving and stationary driving, respectively.

[0083] In some embodiments, when the vehicle is in a levitation state and the steering wheel is not turned while stationary, the central controller 10 determines a target wheel speed correction amount using a first motion control algorithm based on the target yaw rate and the current yaw rate, where the target yaw rate is determined based on the current vehicle speed and steering wheel rotation angle. The central controller 10 then further determines a torque correction amount using a second motion control algorithm based on the target wheel speed correction amount, the pre-controlled target wheel speed and the current wheel speed, where the pre-controlled target wheel speed and the pre-controlled torque are determined based on accelerator information.

[0084] Specifically, the central controller 10 first determines the vehicle's target yaw rate based on the vehicle's steering wheel rotation angle and current vehicle speed, according to a predetermined steering wheel rotation angle-vehicle speed-target yaw rate relationship. Next, based on the vehicle's target yaw rate and current yaw rate, it uses a first motion control algorithm, such as PI (Proportional Integral), PD (Proportional Derivative), or PID control algorithm, to determine the target wheel speed correction amount for each wheel. Furthermore, based on the vehicle's accelerator opening, it determines the pre-controlled target wheel speed and pre-controlled torque for each wheel according to a predetermined accelerator-target wheel speed-motor pre-controlled torque relationship. Finally, based on the pre-controlled target wheel speed, current wheel speed, and target wheel speed correction amount for each wheel, it uses a second motion control algorithm, such as PI, PD, or PID control algorithm, to determine the torque correction amount for each wheel. Lastly, based on the pre-controlled torque and torque correction amount for each wheel, it can determine the target torque of the drive motor corresponding to each wheel.

[0085] As a specific example, as shown in Figure 8, first, based on the accelerator opening, the accelerator-target wheel speed-motor pre-controlled torque curve is looked up to obtain the required pre-controlled target wheel speed and pre-controlled torque of the drive motor for that accelerator opening. Also, based on the steering wheel rotation angle and current vehicle speed, the steering wheel rotation angle-vehicle speed-target yaw rate curve is looked up to obtain the target yaw rate required for steering under the current steering wheel rotation angle and current vehicle speed conditions. The difference between the target yaw rate and the current yaw rate is calculated using an adder to obtain the yaw rate response deviation. Next, the yaw rate response deviation is input to the input terminal of the first controller as the input signal to the first controller. The first controller may be a PI controller, a PD controller, or a PID controller. The output signal of the first controller is added to the pre-controlled target wheel speed using an adder as the target wheel speed correction amount to obtain the target wheel speed. The difference between the target wheel speed and the current wheel speed is calculated using an adder to obtain the wheel speed response deviation. The wheel speed response deviation is input to the input terminal of the second controller as the input signal to the second controller. The second controller here may be a PI controller, PD controller, or PID controller. The output signal of the second controller is used as a torque correction amount and is added to the control torque in advance using an adder to obtain the target torque for the drive motor corresponding to each wheel. After receiving the target torque signal of the drive motor, the motor controller performs torque control of the drive motor.

[0086] Thus, based on the dual closed-loop control technology means of wheel speed closed-loop and yaw rate closed-loop, a complete dual closed-loop control circuit is formed by feedforward control and controller feedback control, which are configured in advance with a control torque / wheel speed, and which are composed of wheel speed and yaw rate, and have high control accuracy and control response characteristics.

[0087] In some embodiments, when the vehicle is in a levitation state and the steering wheel is turned while stationary in driver mode, the central controller 10 determines a target wheel speed correction amount using a first motion control algorithm based on the target yaw rate and the current yaw rate, where the target yaw rate is determined based on accelerator information and the initial target yaw rate. The central controller 10 then further determines a torque correction amount using a second motion control algorithm based on the target wheel speed correction amount, the pre-controlled target wheel speed and the current wheel speed, where the pre-controlled target wheel speed and the pre-controlled torque are determined based on the target yaw rate.

[0088] Specifically, stationary steering is further divided into stationary steering in driver mode and stationary steering in automatic mode. Stationary steering in driver mode refers to the driver directly controlling the steering wheel and accelerator to drive the vehicle and perform a stationary steering maneuver. Stationary steering in automatic mode refers to the driver only needing to input the target turning direction and target turning angle, and the automatic driving system automatically controls the vehicle to perform a stationary steering maneuver. Furthermore, different water-floating driving control policies are proposed for stationary steering in driver mode and stationary steering in automatic mode, respectively.

[0089] When the vehicle is in a levitation state and the driver is turning the steering wheel while stationary, the central controller 10 first determines the vehicle's current target yaw rate based on the vehicle's accelerator opening and initial target yaw rate, according to a predetermined accelerator-yaw rate increase relationship. Next, based on the vehicle's current target yaw rate and current yaw rate, it uses a first motion control algorithm, such as a PI, PD, or PID control algorithm, to determine the target wheel speed correction amount for each wheel of the vehicle. Furthermore, based on the vehicle's target yaw rate, it first determines the pre-controlled target wheel speed and pre-controlled torque for each wheel according to a predetermined target yaw rate-target wheel speed-motor pre-controlled torque relationship. Next, based on the pre-controlled target wheel speed, current wheel speed, and target wheel speed correction amount for each wheel, it uses a second motion control algorithm, such as a PI, PD, or PID control algorithm, to determine the torque correction amount for each wheel. Finally, based on the pre-controlled torque and torque correction amount for each wheel, it can determine the target torque of the drive motor corresponding to each wheel.

[0090] As one specific example, as shown in Figure 9, first, based on the accelerator opening, the accelerator-yaw rate increase curve is looked up to obtain the yaw rate increase at that accelerator opening, and this yaw rate increase and the initial target yaw rate are added together using an adder to obtain the total target yaw rate. The purpose of setting the initial target yaw rate is to ensure that the vehicle also has an initial default rotational speed when the driver does not press the accelerator.

[0091] Based on the total target yaw rate, the target yaw rate-target wheel speed-motor pre-controlled torque curve is looked up to obtain the pre-controlled target wheel speed and pre-controlled torque of the drive motor required for that target yaw rate. The difference between the total target yaw rate and the current yaw rate is calculated using an adder to obtain the yaw rate response deviation. Next, the yaw rate response deviation is input to the input terminal of the third controller as the input signal. The third controller may be a PI controller, PD controller, or PID controller. The output signal of the third controller is added to the pre-controlled target wheel speed using an adder as the target wheel speed correction amount to obtain the target wheel speed. The difference between the target wheel speed and the current wheel speed is calculated using an adder to obtain the wheel speed response deviation. The wheel speed response deviation is input to the input terminal of the fourth controller as the input signal. The fourth controller may be a PI controller, PD controller, or PID controller. The output signal of the fourth controller is added to the pre-controlled torque using an adder as the torque correction amount to obtain the target torque of the drive motor corresponding to each wheel. The motor controller receives the target torque signal from the drive motor and then performs torque control on the drive motor.

[0092] Thus, based on the dual closed-loop control technology means of wheel speed closed-loop and yaw rate closed-loop, a complete dual closed-loop control circuit is formed by feedforward control and controller feedback control, which are configured in advance with a control torque / wheel speed, and which are composed of wheel speed and yaw rate, and have high control accuracy and control response characteristics.

[0093] In some embodiments, when the vehicle is in a levitation state and the steering is performed in automatic mode, the central controller 10 determines a target wheel speed correction amount using a first motion control algorithm based on the vehicle's target rotation angle, target yaw rate, and current yaw rate. Based on the target wheel speed correction amount, pre-controlled target wheel speed, and current wheel speed, the controller 10 determines a torque correction amount using a second motion control algorithm, and the pre-controlled target wheel speed and pre-controlled torque are determined based on the target yaw rate.

[0094] Specifically, when the vehicle is in a levitation state and the steering is performed in automatic mode, the central controller 10 determines the target wheel speed correction amount for each wheel using a first motion control algorithm, such as a PI, PD, or PID control algorithm, based on the vehicle's target yaw rate, current yaw rate, and target rotation angle. The target rotation angle is the target rotation angle parameter input in automatic mode, and may be a left turn angle or a right turn angle, and is specifically reflected in the target rotation angle. Furthermore, based on the vehicle's target yaw rate, the pre-controlled target wheel speed and pre-controlled torque for each wheel are determined according to a predetermined target yaw rate-target wheel speed-motor pre-controlled torque relationship. Next, based on the pre-controlled target wheel speed, wheel speed, and target wheel speed correction amount for each wheel, the torque correction amount for each wheel is determined using a second motion control algorithm, such as a PI, PD, or PID control algorithm. Finally, based on the pre-controlled torque and torque correction amount for each wheel, the target torque of the drive motor corresponding to each wheel is determined.

[0095] As a specific example, in a floating, stationary steering control state in automatic mode, the vehicle's control objective is to rotate by a received target rotational angle according to a predetermined rotational angular velocity. If the difference between the actual rotational angular velocity and the predetermined rotational angular velocity is large, corrective control is performed using a speed control method based on a closed-loop rotational angular velocity. If the actual rotational angular velocity is relatively close to the target rotational angular velocity, corrective control is performed using a position control method based on a closed-loop rotational angular velocity.

[0096] As shown in Figure 10, first, based on a predetermined target yaw rate, the target yaw rate-target wheel speed-motor pre-controlled torque curve is looked up to obtain the required pre-controlled target wheel speed and pre-controlled torque of the drive motor at that rotational speed. Meanwhile, the difference between the target yaw rate and the current yaw rate is calculated using an adder to obtain the yaw rate response deviation. Next, the yaw rate response deviation is input to the input terminal of the fifth controller as the input signal of the fifth controller. The fifth controller may be a PI controller, PD controller, or PID controller. Meanwhile, the actual yaw angle is obtained using an integrator with the current yaw rate. After calculating the difference between the target rotation angle and the actual yaw angle using an adder, the yaw angle response deviation is obtained. Next, the yaw angle response deviation is input to the input terminal of the seventh controller as the input signal of the seventh controller. The seventh controller may be a PI controller, PD controller, or PID controller. The difference is calculated using an adder to obtain the yaw angle response deviation, the output terminal of the fifth controller, and the output terminal of the seventh controller, and input them to the comparator selector, respectively. If the yaw angle response deviation is greater than the threshold, the target wheel speed correction amount equals the output result of the 5th controller, and conversely, the target wheel speed correction amount equals the output result of the 7th controller. This enables switching between two types of control algorithms, the 5th controller and the 7th controller.

[0097] The target wheel speed is obtained by adding the target wheel speed correction amount and the pre-controlled target wheel speed using an adder. The difference between the target wheel speed and the current wheel speed is calculated using an adder to obtain the wheel speed response deviation. The wheel speed response deviation is input to the input terminal of the sixth controller as the input signal of the sixth controller. The sixth controller may be a PI controller, PD controller, or PID controller. The output signal of the sixth controller is added to the pre-controlled torque using an adder as a torque correction amount to obtain the target torque of the drive motor corresponding to each wheel. After receiving the target torque signal of the drive motor, the motor controller performs torque control of the drive motor.

[0098] Thus, based on the dual closed-loop control technology means of wheel speed closed-loop and yaw rate closed-loop, a complete dual closed-loop control circuit is formed by feedforward control and controller feedback control, which are configured in advance with a control torque / wheel speed, and which are composed of wheel speed and yaw rate, and have high control accuracy and control response characteristics.

[0099] In the above embodiment, based on the power architecture of four motors, when the vehicle is in a levitation state, the vehicle's movement is controlled by a motion control algorithm that determines the pre-controlled torque and torque correction amount for each wheel based on the vehicle's target yaw rate and current yaw rate, as well as the pre-controlled target wheel speed and current wheel speed for each wheel of the vehicle. Then, based on the pre-controlled torque and torque correction amount for each wheel, the target torque output by the drive motor corresponding to each wheel is determined, thereby controlling the vehicle's movement. In this way, a complete dual closed-loop control circuit is formed based on the dual closed-loop control technology means of wheel speed closed-loop and yaw rate closed-loop, and is jointly composed of feedforward control and controller feedback control formed by pre-controlled torque / wheel speed, which are composed of wheel speed and yaw rate, and has high control accuracy and control response characteristics.

[0100] In some embodiments, the vehicle driving scene includes a vehicle slip prevention scene, and when the vehicle is in a vehicle slip prevention scene, the central controller 10 obtains the adjustment torque of each wheel, determines the front axle adjustment torque and rear axle adjustment torque based on the adjustment torque of each wheel, and determines the target torque of each drive motor based on the front axle adjustment torque and rear axle adjustment torque.

[0101] Specifically, during vehicle operation, situations where wheels slip, and situations where wheels slip in the opposite direction during differential operation, constantly occur. Therefore, it is necessary to establish different torque control policies for different wheel slip situations to prevent vehicle slippage. In related technologies, this is mainly achieved using TCS (Traction Control System) and ABS. The TCS function targets drive force control after an abnormal increase in wheel speed during driving operation, and the ABS function targets brake torque control when wheel speed decreases during braking operation. If the ABS function is not activated during driving operation and the inner wheel slips, the wheel reverses direction after the wheel speed decreases. Conventional TCS cannot identify this situation, and as a current technological means, single-wheel torque reduction technology is generally used. If single-wheel control is also used during differential operation, unwanted yaw torque is generated on the wheel, affecting the vehicle's posture. In short, related technologies do not provide special identification and slip prevention control for reverse wheel slip during differential operation, so the differential function of a vehicle still has certain limitations in terms of safety and reliability. Based on this, in some embodiments of the present disclosure, in the case of slip prevention, the control advantage of being able to drive the power architecture of the four motors independently is fully utilized to avoid vehicle slippage.

[0102] For example, in some embodiments, the central controller 10 can calculate the PID adjustment torque corresponding to each wheel and further determine the target torque of the drive motor corresponding to each wheel based on the PID adjustment torque corresponding to each wheel. For example, taking the left front wheel as an example, the central controller 10 can obtain the difference between the current wheel speed of the left front wheel and the current vehicle speed, perform PID adjustment on this difference to obtain the torque magnitude that needs to be adjusted for the wheel end torque in order to control the wheel speed of the left front wheel, i.e., the PID adjustment torque of the left front wheel, and further determine the target torque corresponding to the left front wheel based on the PID adjustment torque corresponding to the left front wheel. The calculation process for the other wheels is the same as for the left front wheel, so it will not be explained here.

[0103] In some embodiments, when PID adjustment is performed on the difference between the current wheel speed and the current vehicle speed of each wheel to obtain the PID adjustment torque for each wheel, the corresponding proportionality constant is determined based on the difference, the integral constant is determined based on the integral of the difference, and the derivative constant is determined based on the derivative of the difference. Taking the left front wheel as an example, the central controller 10 obtains the difference between the current wheel speed and the current vehicle speed of the left front wheel, then obtains the proportionality constant by table lookup based on the difference, obtains the integral value by integrating the difference, obtains the integral constant by table lookup based on the integral value, obtains the integral constant by differentiating the difference to obtain the derivative value, and obtains the derivative constant by table lookup based on the derivative value. The calculation process for the other wheels is the same as for the left front wheel, so it is omitted from this explanation.

[0104] When determining the target torque of the drive motor corresponding to each wheel based on the adjustment torque of each wheel, the central controller 10 can first determine the front axle adjustment torque and the rear axle adjustment torque based on the adjustment torque of each wheel, and then determine the target torque of each drive motor based on the front axle adjustment torque and the rear axle adjustment torque.

[0105] To make it easier to understand, the target torque of the drive motor corresponding to each wheel is determined based on the front axle adjustment torque and the rear axle adjustment torque. Furthermore, torque is distributed to each wheel based on the target torque of the drive motor corresponding to each wheel, thereby achieving torque adjustment for each wheel. Torque synchronous control can be achieved by calculating the front axle adjustment torque and the rear axle adjustment torque.

[0106] Specifically, as shown in Figure 11, when the vehicle is currently in a differential state, a differential torque in the opposite direction is applied to the coaxial wheels in addition to the drive torque. If torque reduction control is performed only on the slipping wheels, an unwanted yaw torque will be generated in the vehicle, changing the magnitude of the vehicle's longitudinal force and causing situations such as vehicle drift, understeer, or abnormal vehicle speed. Therefore, in a differential state, it is necessary to synchronously adjust the coaxial wheels after the wheels slip. By determining the front axle adjustment torque and rear axle adjustment torque corresponding to the vehicle based on the adjustment torque of each wheel, and by determining the target torque of the drive motor corresponding to each wheel based on the front axle adjustment torque and rear axle adjustment torque, synchronous adjustment control for the torque of the coaxial wheels can be achieved, preventing the generation of unwanted yaw torque in the vehicle and preventing situations such as vehicle drift, understeer, or abnormal vehicle speed.

[0107] For example, the central controller 10 can first determine the front axle PID adjustment torque and rear axle PID adjustment torque corresponding to the vehicle based on the PID adjustment torque of each wheel, and then determine the target torque of the drive motor corresponding to each wheel based on the front axle PID adjustment torque and rear axle PID adjustment torque.

[0108] In some embodiments, the central controller 10 determines the front axle adjustment torque based on the maximum adjustment torque at the front axle wheel if at least one of the front axle wheels slips, and determines the rear axle adjustment torque based on the maximum adjustment torque at both the front and rear axle wheels. If neither of the front axle wheels slips, the rear axle adjustment torque is determined based on the maximum adjustment torque at the rear axle wheel, and the front axle adjustment torque is zero.

[0109] Specifically, when the central controller 10 determines the front axle adjustment torque and rear axle adjustment torque corresponding to the vehicle based on the adjustment torque of each wheel, if at least one of the left front wheel and the right front wheel slips, i.e., if the front axle slips, it calculates the front axle adjustment torque and rear axle adjustment torque based on the first calculation policy. If neither the left front wheel nor the right front wheel slips, i.e., if the front axle does not slip, it calculates the front axle adjustment torque and rear axle adjustment torque based on the second calculation policy.

[0110] The first calculation policy refers to setting the front axle adjustment torque to the maximum value of the adjustment torques for the left front wheel and the right front wheel, and setting the rear axle adjustment torque to the maximum value of the adjustment torques for the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel. The second calculation policy refers to setting the front axle adjustment torque to zero, and setting the rear axle adjustment torque to the maximum value of the adjustment torques for the left rear wheel and the right rear wheel.

[0111] Specifically, if the front axle wheels slip while the vehicle is traveling, there is a high probability that the rear axle wheels will also slip when they pass over the same road surface. Therefore, adjusting the differential torque of the rear axle after the front axle wheels have slipped is advantageous in reducing the frequency of wheel slips, and thus the adjustment torques of the front and rear axles are calculated using the first calculation policy. If the front axle wheels have not slipped, it cannot be determined that the rear axle wheels will not slip, so the differential torque of the rear axle can be adjusted, which is advantageous in reducing the frequency of rear axle wheel slips, and thus the adjustment torques of the front and rear axles are calculated using the second calculation policy.

[0112] In some embodiments, the central controller 10 determines the target torque of the drive motor corresponding to the front axle wheel based on the wheel end torque and front axle adjustment torque before slip prevention control intervention for the front axle wheel when the torque directions of the inner and outer steering wheels of the vehicle are opposite, and determines the target torque of the drive motor corresponding to the rear axle wheel based on the wheel end torque and rear axle adjustment torque before slip prevention control intervention for the rear axle wheel. When the torque directions of the inner and outer steering wheels of the vehicle are the same, the central controller 10 determines the target torque of the drive motor corresponding to the front axle wheel based on the relationship between the difference between the wheel end torque and front axle adjustment torque before slip prevention control intervention for the front axle wheel and zero, and determines the target torque of the drive motor corresponding to the rear axle wheel based on the relationship between the difference between the wheel end torque and rear axle adjustment torque before slip prevention control intervention for the rear axle wheel and zero.

[0113] Specifically, the central controller 10 can acquire the front axle adjustment torque and the rear axle adjustment torque, and then determine the target torque of the drive motor corresponding to each wheel based on the front axle adjustment torque and the rear axle adjustment torque. For example, as shown in Figure 11, if it is determined that the vehicle is currently in a differential operation state, in a differential operation state, a drive torque opposite to the direction of travel may be applied to the inner steering wheel, and this determines different torque adjustment techniques for forward slip and reverse slip of the inner steering wheel. That is, if the torque directions of the vehicle's inner steering wheel and outer steering wheel are opposite, the target torque of the drive motor corresponding to each wheel is calculated using the third calculation policy, and if the torque directions of the vehicle's inner steering wheel and outer steering wheel are the same, the target torque of the drive motor corresponding to each wheel is calculated using the fourth calculation policy.

[0114] In this way, by establishing a separate control policy for the operating situation in which the inner steering wheel slips in the opposite direction, the reliability of the vehicle differential function and the safety of the vehicle can be improved.

[0115] The third calculation policy is expressed by the following formula:

Number

[0116] Note that different vehicle rotation directions correspond to different values. For example, when the vehicle turns left, the vehicle rotation direction is 1, that is, d = 1. When the vehicle turns right, the vehicle rotation direction is -1, that is, d = -1.

[0117] Based on this, when the vehicle turns left, the third calculation policy is expressed by the following formula.

Number

[0118] When the vehicle turns right, the third calculation policy is expressed by the following formula.

Number

[0119] The fourth calculation policy is expressed by the following formula.

Number

[0120] In this way, by calculating the target torque of the drive motor corresponding to each wheel using the third or fourth calculation policy described above, and further distributing torque to the corresponding wheel based on the target torque of the drive motor corresponding to each wheel, the output torque of each wheel can be adapted to the current driving conditions of the vehicle, reducing the frequency of vehicle slip, ensuring that no excess yaw torque is generated in the vehicle after single-wheel slip and torque reduction in differential operation conditions, and further avoiding effects on the vehicle's posture, thereby ensuring the comfort of the occupants.

[0121] In some embodiments, the central controller 10 further performs torque limiting and smoothing vibration damping on the target torque. For example, the target torque can be limited using the maximum available torque limit of the vehicle's drive motor, and then smoothing vibration damping can be performed on the torque-limited target torque. Specifically, smoothing vibration damping can be performed using primary filtering and a set torque change step size limit. By performing torque limiting and smoothing vibration damping on the target torque, the smoothness of the vehicle control process can be increased, vehicle vibrations can be reduced, and the user's riding experience can be improved.

[0122] In the above embodiment, regarding the control advantage of the power architecture of the four motors being able to be driven independently, when performing slip prevention control on a vehicle, the target torque of the drive motor corresponding to each wheel of the vehicle is calculated, and torque adjustment is performed on each wheel based on the target torque of the drive motor corresponding to each wheel, thereby performing vehicle slip prevention control in differential operation conditions. Furthermore, by classifying the differential state of the vehicle, the identification technology means is optimized for the problem of wheel slip in differential operation conditions, and by using different drive torque control logic, for example, by using a coaxial control policy for slipping wheels and defining a control policy for operation conditions in which the inner steering wheel slips in the opposite direction, it is not only possible to ensure that wheel slip in the opposite direction is identified in a timely manner, but the usage scenarios of the differential function are expanded, phenomena such as high-speed wheel slip and vehicle attitude deviation in the vehicle are avoided, and the reliability of the vehicle's differential function and user experience are improved.

[0123] In some embodiments, the central controller 10 further identifies the vehicle driving scene.

[0124] Specifically, the central controller 10 acquires relevant data of vehicle components within multiple functional domains, processes the relevant data to obtain fused data, and then, based on the fused data and combined with the relevant data, can identify whether or not the vehicle is in a driving scene, such as a vehicle puncture scene, a vehicle lift-off scene, or a slip prevention scene. The accuracy of identifying the vehicle driving scene can be improved based on the fusion of relevant data.

[0125] In some embodiments, the multiple different functional domains further include a second functional domain 22, and the central controller 10 further acquires first data of at least one vehicle component in the first functional domain 21 and second data of at least one vehicle component in the second functional domain 22, merges the first and second data to obtain merged data, and identifies a vehicle driving scene based on the merged data.

[0126] For example, a vehicle driving scene may include one or more of the following: a vehicle tire puncture scene, a vehicle lift-off scene, and a vehicle slip prevention scene. The central controller 10 can acquire data related to the vehicle driving scene to be identified from multiple functional domains and further identify the corresponding vehicle driving scene based on this data. For example, it can acquire first data and second data from the first functional domain 21 and the second functional domain 22, respectively, and identify the corresponding vehicle driving scene based on the first data and the second data. The first data represents the vehicle state acquired from at least one vehicle component in the first functional domain 21, and the second data represents the vehicle state acquired from at least one vehicle component in the second functional domain 22. For example, the first functional domain 21 may be a power domain, from which the first wheel speed of each wheel can be acquired, and the second functional domain 22 may be a chassis domain, from which the second wheel speed of each wheel can be acquired. Specifically, the acquired data is related to the vehicle driving scene to be identified.

[0127] In some embodiments, the vehicle driving scene includes a vehicle puncture scene, the second functional domain 22 is the chassis domain, and the central controller 10 acquires first data of at least one vehicle component in the power domain and second data of at least one vehicle component in the chassis domain, fuses the first and second data to obtain fused data, and identifies the vehicle puncture scene based on the fused data.

[0128] Specifically, the central controller 10 acquires relevant data in the power domain and chassis domain, and accurately identifies a vehicle puncture scene based on the relevant data. When a vehicle punctures, it determines the target torque for each drive motor using the aforementioned method and controls the corresponding drive motor based on the target torque, thereby stabilizing the vehicle and braking to decelerate it.

[0129] In some embodiments, the first data includes the first wheel speed of each wheel, the second data includes the second wheel speed of each wheel, and the central controller 10 fuses the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of a vehicle component directly connected to the central controller 10 to obtain the current wheel speed of each wheel. Based on the current wheel speed of each wheel, the central controller 10 determines the first wheel speed difference and the deviation of the multiple wheel speed differences for each wheel, and identifies a vehicle puncture scene and vehicle state information in the vehicle puncture scene based on the first wheel speed difference and the deviation of the multiple wheel speed differences for each wheel.

[0130] Specifically, when the central controller 10 identifies a vehicle puncture scene, it can first obtain the current wheel speed of each wheel by fusing the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of the vehicle components directly connected to the central controller 10. Specifically, this can be seen below, but the explanation is omitted here. To make it understandable, the first wheel speed, second wheel speed, or third wheel speed may be used directly, but the current wheel speed is preferred because it is more accurate than these three wheel speeds. Next, based on the current wheel speed of each wheel, the first wheel speed difference of each wheel and the deviation of the multiple wheel speed differences are determined. The first wheel speed difference of each wheel refers to the difference between the current wheel speed of each wheel and the average value of the current wheel speeds of all other wheels. The deviation of the wheel speed differences of each wheel refers to the deviation between the first wheel speed difference of each wheel and the first wheel speed difference of the other wheels.

[0131] In some embodiments, the central controller 10 obtains the average wheel speed of the target wheel by obtaining the average value of the current wheel speeds of the other wheels, and obtains the difference between the current wheel speed of the target wheel and the average wheel speed to obtain the first wheel speed difference of the target wheel. The target wheel is any wheel on the vehicle.

[0132] Specifically, for the left front wheel, the difference in the first wheel speed of the left front wheel = current wheel speed of the left front wheel - (current wheel speed of the right front wheel + current wheel speed of the left rear wheel + current wheel speed of the right rear wheel) / 3; for the right front wheel, the difference in the first wheel speed of the right front wheel = current wheel speed of the right front wheel - (current wheel speed of the left front wheel + current wheel speed of the left rear wheel + current wheel speed of the right rear wheel) / 3; for the left rear wheel, the difference in the first wheel speed of the left rear wheel = current wheel speed of the left rear wheel - (current wheel speed of the left front wheel + current wheel speed of the right front wheel + current wheel speed of the right rear wheel) / 3; and for the right rear wheel, the difference in the first wheel speed of the right rear wheel = current wheel speed of the right rear wheel - (current wheel speed of the left front wheel + current wheel speed of the right front wheel + current wheel speed of the left rear wheel) / 3.

[0133] In some embodiments, the central controller 10 obtains the difference between the first wheel speed difference of the target wheel and the first wheel speed difference of each other wheel, thereby obtaining the deviation of multiple wheel speed differences of the target wheel, and the target wheel is any wheel of the vehicle.

[0134] Specifically, for the left front wheel, the deviations include three wheel speed differences: the first left front wheel speed difference = left front wheel speed difference - right front wheel speed difference; the second left front wheel speed difference = left front wheel speed difference - left rear wheel speed difference; and the third left front wheel speed difference = left front wheel speed difference - right rear wheel speed difference. For the right front wheel, the deviations include three wheel speed differences: the first right front wheel speed difference = right front wheel speed difference - left front wheel speed difference; the second right front wheel speed difference = right front wheel speed difference - left rear wheel speed difference; and the third right front wheel speed difference = right front wheel speed difference - right rear wheel speed difference. The process for obtaining the deviation in the difference in wheel speed between the left rear wheel and the right rear wheel is the same as the process for obtaining the deviation in the difference in wheel speed between the left front wheel and the right front wheel, so a detailed explanation will be omitted here. Note that the deviation in wheel speed difference can be either a positive or negative value.

[0135] The central controller 10 can determine whether the vehicle has a flat tire and, specifically, which wheel has a flat tire, based on the deviation between the first wheel speed difference and the speed difference between multiple wheels.

[0136] In some embodiments, the central controller 10 determines that a target wheel has punctured if the first wheel speed difference of the target wheel is greater than a predetermined wheel speed difference threshold and this condition persists for a first predetermined time threshold, and the deviation of at least one of the deviations of the multiple wheel speed differences of the target wheel is greater than a predetermined wheel speed difference deviation threshold and this condition persists for a second predetermined time threshold, and the target wheel is any wheel on the vehicle.

[0137] For example, with respect to the left front wheel, the difference in the first left front wheel speed and the deviation of the three left front wheel speed differences may be judged simultaneously. If the difference in the first left front wheel speed is greater than a predetermined wheel speed difference threshold and continues for a first predetermined time threshold, and the deviation of one of the three left front wheel speed differences is greater than a predetermined wheel speed difference deviation threshold and continues for a second predetermined time threshold, then the left front wheel is considered to have a puncture.

[0138] Furthermore, for example, the first wheel speed difference of the left front wheel may be determined, and if an abnormality is determined, the deviation of the three left front wheel speed differences may be determined. Specifically, the first wheel speed difference of the left front wheel may be determined first, and if the first wheel speed difference of the left front wheel is greater than a predetermined wheel speed difference threshold and continues for a first predetermined time threshold, it is considered that there is an abnormality in the left front wheel, in which case the deviation of the three left front wheel speed differences is determined, otherwise no determination is made, and when determining the deviation of the three left front wheel speed differences, if the deviation of one of the three left front wheel speed differences is greater than a predetermined wheel speed difference deviation threshold and continues for a second predetermined time threshold, it is considered that the left front wheel is punctured, that is, the first wheel speed difference of the left front wheel > the first wheel of the right front wheel If the difference in wheel speed is equal to |the difference in the first wheel speed of the left front wheel - the difference in the first wheel speed of the right front wheel| > a predetermined threshold for the wheel speed difference, and this continues for a second predetermined time threshold, or if the difference in the first wheel speed of the left front wheel > the difference in the first wheel speed of the left rear wheel, and |the difference in the difference in the first wheel speed of the left front wheel - the difference in the first wheel speed of the left rear wheel| > a predetermined threshold for the wheel speed difference, and this continues for a second predetermined time threshold, or if the difference in the first wheel speed of the left front wheel > the difference in the first wheel speed of the right rear wheel, and |the difference in the difference in the first wheel speed of the left front wheel - the difference in the first wheel speed of the right rear wheel| > a predetermined threshold for the wheel speed difference, and this continues for a second predetermined time threshold, then the left front wheel is considered to have a puncture.

[0139] Note that the method for determining the other wheels is the same as for the left front wheel, so we will omit the explanation here.

[0140] In this way, by determining whether the wheel speed and the difference in wheel speeds of each wheel are abnormal, it is possible to indirectly determine whether a tire puncture exists in the vehicle and which specific wheel is punctured, which is faster than identification methods based on tire pressure.

[0141] In some embodiments, the second data further includes the tire pressure of each wheel, and the central controller 10 further identifies a vehicle puncture scene and vehicle state information in the vehicle puncture scene based on the first wheel speed difference of each wheel, the deviation of the multiple wheel speed differences, and the tire pressure.

[0142] Specifically, the central controller 10 first indirectly identifies the vehicle puncture situation using the aforementioned method based on the deviation of the first wheel speed difference and the multiple wheel speed differences of each wheel, and then further confirms the indirectly identified vehicle puncture situation by the tire pressure of each wheel, thereby improving the accuracy of identifying the vehicle puncture situation.

[0143] In some embodiments, the central controller 10 obtains the difference between the tire pressure of each wheel and the standard tire pressure to obtain the tire pressure difference for each wheel, and identifies a vehicle puncture scene and the vehicle puncture situation in the vehicle puncture scene based on the first wheel speed difference, the deviation of the multiple wheel speed differences, the tire pressure, and the tire pressure difference.

[0144] Specifically, for the left front wheel, the tire pressure difference of the left front wheel = tire pressure of the left front wheel - standard tire pressure; for the right front wheel, the tire pressure difference of the right front wheel = tire pressure of the right front wheel - standard tire pressure; for the left rear wheel, the tire pressure difference of the left rear wheel = tire pressure of the left rear wheel - standard tire pressure; and for the right rear wheel, the tire pressure difference of the right rear wheel = tire pressure of the right rear wheel - standard tire pressure. The central controller 10 can identify whether the vehicle has a flat tire and which specific wheel has a flat tire based on the first wheel speed difference of each wheel, the deviation of the multiple wheel speed differences, the tire pressure, and the tire pressure difference.

[0145] In some embodiments, the central controller 10 determines that a target wheel is punctured if, for a target wheel, the first wheel speed difference of the target wheel is greater than a predetermined wheel speed difference threshold and this condition persists for a first predetermined time threshold, and the deviation of at least one of the deviations of multiple wheel speed differences of the target wheel is greater than a predetermined wheel speed difference deviation threshold and this condition persists for a second predetermined time threshold, and the tire pressure of the target wheel is less than a predetermined tire pressure threshold, or the tire pressure difference of the target wheel is greater than a predetermined tire pressure difference threshold and this condition persists for a third predetermined time threshold, and the tire pressure difference of the target wheel is greater than a predetermined tire pressure difference threshold and this condition persists for a fourth predetermined time threshold, and the target wheel is any wheel on the vehicle.

[0146] For example, regarding the left front wheel, first, the deviation between the speed difference of the first left front wheel and the speed difference of the three left front wheels can be determined to make a preliminary determination as to whether or not the left front wheel is punctured. If it is determined that the left front wheel is punctured, then the determination can be confirmed based on the tire pressure and tire pressure difference of the left front wheel. Specifically, if the first wheel speed difference of the left front wheel is greater than a predetermined wheel speed difference threshold and persists for a first predetermined time threshold, and the deviation of one of the three left front wheel speed differences is greater than a predetermined wheel speed difference deviation threshold and persists for a second predetermined time threshold, then it is provisionally considered that the left front wheel is punctured. In this case, the tire pressure and tire pressure difference of the left front wheel are determined; otherwise, no determination is made. Furthermore, if the tire pressure of the left front wheel is less than a predetermined tire pressure threshold, or if the tire pressure difference of the left front wheel is greater than a predetermined tire pressure difference threshold and persists for a third predetermined time threshold, and the tire pressure difference of the left front wheel is greater than a predetermined tire pressure difference threshold and persists for a fourth predetermined time threshold, then it is determined that the left front wheel is punctured. The determination method for the other wheels is the same as for the left front wheel, so an explanation is omitted here.

[0147] In this way, by pre-identifying possible puncture conditions based on wheel speed and then confirming them based on tire pressure, two-dimensional puncture identification can be achieved, resulting in higher reliability.

[0148] When the central controller 10 identifies a vehicle puncture scene and the punctured wheel using the method described above, it can distribute torque to the drive motor corresponding to each wheel based on the punctured wheel, thereby achieving stable control of the vehicle.

[0149] In some embodiments, the multiple different functional domains further include a second functional domain 22 and a third functional domain 23, and the central controller 10 further acquires first data of at least one vehicle component in the first functional domain 21, second data of at least one vehicle component in the second functional domain 22 and third data of at least one vehicle component in the third functional domain 23, merges the first data, second data and third data to obtain merged data, and identifies a vehicle driving scene based on the merged data.

[0150] For example, a vehicle driving scene may include one or more of the following: a vehicle tire puncture scene, a vehicle lift-off scene, and a vehicle slip prevention scene. The central controller 10 can acquire data related to the vehicle driving scene to be identified from multiple functional domains and further identify the corresponding vehicle driving scene based on this data. For example, it can acquire first data, second data, and third data from the first functional domain 21, second functional domain 22, and third functional domain 23, respectively, and identify the corresponding vehicle driving scene based on the first data, second data, and third data. The first data represents the vehicle state acquired from at least one vehicle component in the first functional domain 21, the second data represents the vehicle state acquired from at least one vehicle component in the second functional domain 22, and the third data represents the vehicle state acquired from at least one vehicle component in the third functional domain 23. For example, the first functional domain 21 is a power domain, from which the first wheel speed of each wheel can be obtained; the second functional domain 22 may be a chassis domain, from which the second wheel speed of each wheel can be obtained; and the third functional domain 23 may be an intelligent driving domain, from which the first vehicle speed can be obtained. Specifically, the acquired data is related to the vehicle driving scene being identified.

[0151] In some embodiments, the vehicle driving scene includes a vehicle levitation scene, the second functional domain 22 is the chassis domain, the third functional domain 23 is the intelligent driving domain, and the central controller 10 acquires first data from at least one vehicle component in the power domain, second data from at least one vehicle component in the chassis domain, and third data from at least one vehicle component in the intelligent driving domain, fuses the first data, second data, and third data to obtain fused data, and identifies the vehicle levitation scene based on the fused data.

[0152] Specifically, the central controller 10 acquires relevant data from the power domain, chassis domain, and intelligent driving domain, accurately identifies the vehicle levitation scene based on the relevant data, and, when the vehicle is in a levitation state, fully utilizes the control advantage that the power architecture of the four motors can be driven independently, and achieves vehicle levitation by performing dual closed-loop control on the vehicle using the aforementioned method.

[0153] In some embodiments, the first data includes the first wheel speed of each wheel, the second data includes the second wheel speed of each wheel, the suspension height of each wheel, the first sixth-degree-of-freedom inertia information, and the rotation angle of the steering wheel, and the third data includes the first vehicle speed and the wading depth of each wheel. The central controller 10 fuses the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of a vehicle component directly connected to the central controller to obtain the current wheel speed of each wheel. Based on the current wheel speed of each wheel, the first sixth-degree-of-freedom inertia information, the rotation angle of the steering wheel, and the first vehicle speed, it determines the current vehicle speed. Based on the current wheel speed of each wheel and the current vehicle speed, it determines the slip state of each wheel, and based on the suspension height of each wheel, it determines the suspension load state of each wheel. Based on the slip state of each wheel, the suspension load state, and the wading depth, it determines whether the vehicle is in a vehicle-floating scene.

[0154] Furthermore, vehicle floating scenes can be divided into two types: one is a vehicle crossing a waterway scene, and the other is a vehicle surfacing scene. A vehicle crossing a waterway scene refers to a state where the vehicle is in a state of crossing a waterway, and a vehicle surfacing scene refers to a state where the vehicle is surfacing. A state of crossing a waterway means that the vehicle's wheels have already crossed the water, but the vehicle has not yet reached a state where it can surfacing, and a state of surfacing means that the vehicle is floating in the water. Whether or not the vehicle is in a state of crossing a waterway scene may be determined based on the driver's request, and whether or not the vehicle is in a state of surfacing may be identified based on relevant data in the power domain, chassis domain, and intelligent driving domain.

[0155] For example, it is possible to determine whether the vehicle is in a floating state, i.e., floating condition, based on the wading depth, slip condition, and suspension load condition of each wheel. The slip condition of each wheel may be determined based on the current wheel speed and current vehicle speed of each wheel. The method for obtaining the current wheel speed and current vehicle speed can be found below and will not be explained here. The suspension load condition of each wheel may be determined based on the suspension height of each wheel.

[0156] There are various methods for determining the slip state of each wheel. For example, a wheel is considered to be in a slip state if the absolute value of the difference between the current wheel speed and the current vehicle speed is greater than a predetermined slip threshold. There are also various methods for determining the suspension load state of each wheel. For example, a wheel's suspension is considered to be in an unloaded state if the absolute value of the difference between the wheel's suspension height and the suspension height when the suspension is unloaded while the vehicle is floating in water is less than a predetermined suspension height difference threshold.

[0157] The central controller 10 can improve the accuracy of determining whether or not the vehicle is in a floating state by determining that the vehicle is floating if the wading depth for each wheel of the vehicle is greater than the vehicle floating threshold, the suspension of each wheel is in an unloaded state, and each wheel is in a slip state.

[0158] Alternatively, the central controller 10 can first obtain the wading depth for each wheel and determine whether the wading depth for each wheel is greater than the vehicle lift threshold. If so, it obtains the suspension height for each wheel and determines whether the suspension for each wheel is in an unloaded state based on the suspension height for each wheel. If so, it obtains whether each wheel is in a slipping state, and if so, it determines that the vehicle is in a lifted state.

[0159] In this way, by comprehensively determining whether or not the vehicle is floating based on multiple indicators such as the wading depth of each wheel, the slip condition, and the suspension load condition, the risk of misidentification using a single judgment method can be reduced, and the accuracy of determining whether or not the vehicle is floating can be improved.

[0160] As one specific example, the vehicle may be equipped with a water-floating mode button. The central controller 10 receives a request to enter water-floating mode, and if the vehicle meets predetermined conditions, it controls the vehicle's movement using a wading control policy. In the process of controlling the vehicle's movement using the wading control policy, it determines whether the vehicle is floating or not. Specifically, the central controller 10 obtains button status information for water-floating mode and determines whether the driver has sent a water-floating mode switching request command. If so, it determines whether the vehicle's current state is good, there are no abnormalities, no other functions exclusive to the water-floating function are activated, and the water-floating mode is not currently malfunctioning. In this case, it determines whether the conditions for entering water-floating mode meet predetermined conditions, such as whether the current vehicle speed is less than a threshold, or whether the synchronization lock is in an unlocked state. Furthermore, before the floating mode is activated for the vehicle, including the engine, the system first outputs a request to force the engine to start, and a request to close the circuits of the canister solenoid valve and the DMTL (Diagnostic Module Tank Leakage) solenoid valve. This brings the engine system into a normal operating state in advance, preventing engine damage due to water ingress into engine-related components.

[0161] Next, the floating mode is activated, and once the vehicle successfully enters floating mode, the central controller 10 first controls the vehicle's movement using a wading control policy, and can distribute torque to the drive motors corresponding to each wheel of the vehicle using, for example, a torque averaging distribution method. Furthermore, in the process of controlling the vehicle's movement using the wading control policy, the central controller 10 determines whether the vehicle is floating or not. For example, if the wading depth for each wheel is greater than the vehicle floating threshold, the suspension for each wheel is unloaded, and each wheel is slipping, the central controller 10 determines that the vehicle is floating. The central controller 10 then transmits torque distribution information to the motor controller using the floating control policy, and can distribute torque to the drive motors corresponding to each wheel based on, for example, the vehicle's current yaw rate and current wheel speed. In this way, by successfully balancing and distinguishing between floating and wading states, the vehicle can adapt to scene changes at different wading levels, possessing excellent underwater driving capabilities, filling gaps in conventional drive control policies, and eliminating the need to add a power system; only different drive control policies can be used, which is advantageous for the widespread adoption and application of floating vehicles.

[0162] In some embodiments, the vehicle driving scene includes a vehicle slip prevention scene, the second functional domain 22 is the chassis domain, and the third functional domain 23 is the intelligent driving domain. The central controller 10 acquires first data from at least one vehicle component in the power domain, second data from at least one vehicle component in the chassis domain, and third data from at least one vehicle component in the intelligent driving domain. The first data, second data, and third data are fused to obtain fused data, and based on the fused data, the controller determines whether the vehicle is in a vehicle slip prevention scene.

[0163] Specifically, the central controller 10 acquires relevant data in the power domain, chassis domain, and intelligent driving domain, and accurately identifies whether or not it is necessary to perform anti-slip processing on the vehicle based on the relevant data. In the case of anti-slip, it fully utilizes the control advantage that the power architecture of the four motors can be driven independently to avoid vehicle slippage.

[0164] In some embodiments, the first data includes the drive torque of each wheel and the first wheel speed of each wheel; the second data includes the second wheel speed of each wheel, first sixth-degree-of-freedom inertia information, and brake depth of the brake pedal; and the third data includes the first vehicle speed. The central controller 10 fuses the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of a vehicle component directly connected to the central controller 10 to obtain the current wheel speed of each wheel. Based on the current wheel speed of each wheel, the first sixth-degree-of-freedom inertia information, the rotation angle of the steering wheel, and the first vehicle speed, the central controller 10 determines the current vehicle speed. Based on the drive torque of each wheel, the central controller 10 determines whether the vehicle is in a differential operation state. Based on the brake depth of the brake pedal, the current wheel speed of each wheel, and the current vehicle speed, the central controller 10 determines whether the vehicle meets the conditions for slip prevention control intervention. If the vehicle is in a differential operation state and the conditions for slip prevention control intervention are met, the central controller 10 determines that the vehicle is in a vehicle slip prevention scene.

[0165] Specifically, the central controller 10 can calculate the target torque for each drive motor corresponding to each wheel by performing slip prevention control on the vehicle when the vehicle is in a differential operation state and the conditions for slip prevention control intervention are met.

[0166] Differential operation status refers to a state in which the left and right wheels on the same axle of a vehicle can independently control and adjust their torque. For example, the left front wheel and the right front wheel of a vehicle can independently control and adjust their torque, and the left rear wheel and the right rear wheel of a vehicle can independently control and adjust their torque. The differential operation status of a vehicle may be determined by relevant vehicle information, including, but is not limited to, determining whether the vehicle is currently in a differential operation status based on the vehicle's differential function flag and the drive torque of the wheels.

[0167] For example, if the vehicle's differential function flag is in the activated flag state, it is determined that the vehicle is in a differential operation state. For instance, a function option to activate the differential function may be placed on the vehicle, and if the driver activates the differential function based on this function option, and it is determined that the driver has a significant steering need, the differential function flag is automatically activated and the activated flag is output. If it is determined that the vehicle meets certain conditions, for example, if the steering wheel angle, gear position, vehicle speed, etc., meet certain conditions (for example, if the steering wheel angle is greater than a certain angle, the gear position is in D range, and the current vehicle speed is less than a certain speed), it is determined that the driver has a significant steering need.

[0168] For example, if the driving torque of each wheel meets certain conditions, it is determined that the vehicle is currently in a differential operation state. For instance, the central controller 10 obtains the absolute value of the first difference between the driving torque of the left front wheel and the driving torque of the right front wheel, and obtains the absolute value of the second difference between the driving torque of the left rear wheel and the driving torque of the right rear wheel. If the absolute value of the first difference is greater than a predetermined torque threshold, and / or the absolute value of the second difference is greater than a predetermined torque threshold, it is determined that the vehicle is in a differential operation state.

[0169] In this way, by determining whether or not a vehicle is in a differential operation state, it is possible to classify the differential state of the vehicle, which helps to define different drive slip prevention control policies, is advantageous in avoiding vehicle slip, and can improve vehicle safety and reliability. Furthermore, by determining whether or not a vehicle is in a differential operation state based on the actual drive torque of each wheel, it is possible to accurately determine whether or not the vehicle is currently in a differential operation state.

[0170] If the central controller 10 determines that the vehicle is in a differential operation state, it further determines whether the vehicle meets the conditions for anti-slip control intervention. For example, the central controller 10 determines whether there are any slipping wheels on the vehicle, and if so, determines that the vehicle meets the conditions for anti-slip control intervention.

[0171] For example, if it is determined that the vehicle is currently in a differential operation state, the slip state of each wheel can be determined independently. Based on the slip state of the wheels, it is determined whether or not the vehicle currently requires slip prevention control intervention. If a slip condition occurs in the wheels, that is, if any one of the vehicle's four wheels slips, it is determined that the vehicle meets the conditions for slip prevention control intervention, that is, that the vehicle requires slip prevention control intervention.

[0172] In some embodiments, if the central controller 10 determines that the brake depth of the brake pedal is less than a predetermined brake depth threshold, it determines whether any one wheel satisfies a first predetermined condition within N consecutive periods, and if N is an integer greater than 2, it determines that the corresponding wheel has slipped; otherwise, it determines that the corresponding wheel has not slipped.

[0173] Specifically, when determining whether or not a vehicle has slipped wheels, it is first determined whether or not the vehicle is in an inactive braking state. For example, this is determined based on the relationship between the brake pedal depth and a predetermined brake depth threshold. If the brake depth is less than the predetermined brake depth threshold, the vehicle is considered to be in an inactive braking state. If the brake depth is greater than or equal to the predetermined brake depth threshold, the vehicle is considered to be in an active braking state. If the vehicle is in an inactive braking state, it is determined whether or not the corresponding wheel slips based on whether or not any one wheel satisfies a first predetermined condition within a continuous N period.

[0174] In some embodiments, the central controller 10 obtains the absolute value of a third difference between the current wheel speed and the current vehicle speed, obtains the absolute value of a fourth difference between the acceleration of the wheel and the longitudinal acceleration of the vehicle, and determines that the wheel satisfies a first predetermined condition if the absolute value of the third difference is greater than a predetermined wheel speed difference threshold and / or the absolute value of the fourth difference is greater than a predetermined wheel acceleration difference threshold.

[0175] The current wheel speed and current vehicle speed are determined by the following method, which will not be explained here.

[0176] When determining whether a wheel satisfies the first predetermined condition, as an example, the current wheel speed of the left front wheel is u 1f And set the current vehicle speed to V x Let the left front wheel's acceleration be u 1f 'Assume that the longitudinal acceleration of the vehicle is a x Let △u be the wheel speed difference threshold and △a be the wheel acceleration difference threshold, and the absolute value of the third difference between the current wheel speed of the left front wheel and the current vehicle speed is

number

number

[0177]

number

[0178] In this way, by setting thresholds for the absolute value of the difference between the wheel speed and the vehicle speed, and the absolute value of the difference between the wheel acceleration and the vehicle's longitudinal acceleration, it is possible to ensure that both forward and reverse wheel slip can be identified, thereby improving the identification rate of forward and reverse wheel slip.

[0179] When the central controller 10 determines that the vehicle is currently in a differential operation state and that the conditions for slip prevention control intervention are met, it performs slip prevention control on the vehicle. After the slip prevention control intervention, it calculates the target torque for the drive motor corresponding to each wheel and adjusts the torque for each wheel based on the target torque for the drive motor corresponding to each wheel. This prevents slipping from occurring in the vehicle, reduces wheel slip, avoids slipping as quickly as possible, prevents high-speed wheel slip phenomena from occurring in the vehicle, and is advantageous for improving vehicle reliability, safety, and user experience.

[0180] In some embodiments, the vehicle components include at least one or more of the following: a drive assembly, a brake system, a steering system, an inertia measurement unit, an intelligent driving controller, a steering wheel rotation angle sensor, a wheel speed sensor, a camera, and a radar.

[0181] In some embodiments, the multiple different functional domains further include a second functional domain 22, and the central controller 10 acquires first data from at least one vehicle component in the first functional domain 21 and second data from at least one vehicle component in the second functional domain 22, merges the first and second data based on the current state and / or target state of the vehicle, transmits second control information to the vehicle component based on the merged data, and the second control information is suitable for instructing the vehicle to perform steering control, lateral control, longitudinal control, or vertical control.

[0182] Specifically, the central controller 10 can quickly and accurately acquire data and achieve accurate, stable, and safe control of the vehicle by fusing the first and second data from two of the multiple functional domains, for example, the first functional domain 21 and the second functional domain 22, as in the control fusion described above. For example, the central controller 10 can achieve fused control of the vehicle by fusing the first and second data based on the vehicle's current state, the vehicle's target state, or the vehicle's current state and target state. This fused control includes, but is not limited to, steering control, lateral control, longitudinal control, or vertical control.

[0183] Furthermore, the first data represents the performance of at least one vehicle component within the first functional domain 21, and the second data represents the performance of at least one vehicle component within the second functional domain 22.

[0184] Illustratively, the first functional domain 21 may be a power domain, and the second functional domain 22 may be a chassis domain. Correspondingly, the performance of at least one vehicle component within the first functional domain 21 may include estimated driving capabilities of the drive motors corresponding to each wheel; that is, the first data includes driving capability data of the drive assembly within the power domain. The performance of at least one vehicle component within the second functional domain 22 may include estimated braking capabilities of each wheel, steering capabilities of the steering system, and suspension damping characteristics corresponding to each wheel; that is, the second data includes one or more braking capability data of the brake system, steering capability data of the steering system, and suspension damping characteristics of the suspension system within the chassis domain. The central controller 10 re-evaluates and centrally analyzes the performance of the first functional domain 21 and the second functional domain 22, and by utilizing the fast response characteristic of the four-motor power architecture to compensate for and integrate with the performance of the chassis domain, it can achieve accurate, stable, and safe control of the vehicle, such as steering control, lateral control, longitudinal control, or accurate, stable, and safe control in the vertical direction.

[0185] In some embodiments, the second functional domain 22 is a chassis domain, which includes a brake system, a steering system, and a suspension system, and the first data includes drive capability data of the drive assembly in the power domain, and the second data may include brake capability data of the brake system, steering capability data of the steering system, and suspension damping characteristics of the suspension system in the chassis domain, and the central controller 10 fuses the first data and the second data based on the current state and / or target state of the vehicle, and transmits second control information to the vehicle components based on the fused data, and the second control information may include steering fusion control information, yaw fusion control information, longitudinal fusion control information, and vertical control information.

[0186] Specifically, the central controller 10 integrates the first and second data of the power domain and chassis domain in combination with the vehicle control demands. For example, it re-evaluates and intensively analyzes the driving capacity of the drive motors corresponding to each wheel in the power domain and the braking capacity of the hydraulic cylinders and master cylinders corresponding to each wheel in the chassis domain, or the driving capacity of the drive motors corresponding to each wheel in the power domain, the steering capacity of the steering system in the chassis domain, and the suspension damping characteristics of the suspension system in the chassis domain. By utilizing the characteristic of fast response of the power architecture of the four motors, it compensates for and integrates with the performance of the chassis domain, thereby realizing steering control integration, yaw control integration, longitudinal control integration, vertical control, etc., and further realizing accurate, stable, and safe control of the vehicle.

[0187] In some embodiments, the central controller 10 fuses the first and second data based on the current vehicle speed and target turning radius, and transmits steering fusion control information to the vehicle components based on the fused data.

[0188] Specifically, the central controller 10 can perform steering control integration based on the vehicle's current speed, target turning radius, the driving capability of the drive motors corresponding to each wheel in the power domain, the steering capability of the steering system in the chassis domain, and the suspension damping characteristics of the chassis domain.

[0189] In some embodiments, the central controller 10 implements steering control by transmitting steering control information to the steering system based on the steering capability data of the steering system when the current vehicle speed is in the first vehicle speed range and the target turning radius is in the first turning radius range, and implements differential steering control by transmitting steering control information to the steering system and torque distribution information to the drive assembly based on the steering capability data of the steering system, the drive capability data of the drive assembly and the suspension damping characteristics when the current vehicle speed is in the second vehicle speed range and the target turning radius is in the second turning radius range, and when the current vehicle speed is in the third vehicle speed range and the target turning radius is in the third turning radius range, Based on the steering capability data of the steering system and the drive capability data of the drive assembly, steering control information is transmitted to the steering system and torque distribution information is transmitted to the drive assembly to achieve differential steering control at the limit steering angle. When the current vehicle speed is in the fourth vehicle speed zone and the target turning radius is in the fourth turning radius zone, torque distribution information is transmitted to the drive assembly based on the drive capability data of the drive assembly to control steering at the zero turning angle of the steering wheel, where the vehicle speed in the first vehicle speed zone > the vehicle speed in the second vehicle speed zone > the vehicle speed in the third vehicle speed zone > the vehicle speed in the fourth vehicle speed zone, and the turning radius in the first turning radius zone > the turning radius in the second turning radius zone > the turning radius in the third turning radius zone > the turning radius in the fourth turning radius zone.

[0190] Specifically, steering control fusion refers to achieving steering control that allows the vehicle to move in a straight line until the turning radius becomes zero, based on the drive capability data of the drive assembly in the power domain, the steering capability data of the steering system in the chassis domain, and the suspension damping characteristics of the vehicle. The drive capability data may be the currently estimated drive capability of the drive assembly, for example, the drive capability of the drive motor corresponding to each wheel in the power architecture of the four motors in the power domain, and is abbreviated as four-wheel independent drive capability. The steering capability data may be the currently estimated steering capability of the steering system, for example, the steering angle execution capability of the chassis domain.

[0191] In practical applications, a specific steering execution method can be determined based on information such as the vehicle's current speed, target turning radius, and steering angle change rate, enabling steering control that keeps the vehicle moving straight until the turning radius becomes zero, thus providing convenience or steering safety to vehicle control. Exemplarily, as shown in Figure 12, the horizontal coordinate represents the current vehicle speed, the vertical coordinate represents the target turning radius, the solid box represents the vehicle's position before steering, and the dashed box represents the vehicle's position after steering.

[0192] When the current vehicle speed is in the first vehicle speed range and the target turning radius is in the first turning radius range, that is, when the current vehicle speed is very high and the target turning radius is very large, the vehicle can be turned based on the steering system. In this case, the steering execution method is steering control realized based on the steering capability of the steering system. Accordingly, the steering fusion control information is determined based on the steering capability of the steering system and includes steering control information that controls the operation of the steering system. The central controller 10 realizes steering control by transmitting the steering control information to the steering controller in the steering system.

[0193] When the current vehicle speed is in the second vehicle speed range and the target turning radius is in the second turning radius range, that is, when the current vehicle speed is high and the target turning radius is large, the required steering force exceeds the steering force of the steering system. In this case, steering control must be achieved through the cooperation of the four motor power architectures. Therefore, the steering execution method in this case is differential steering control, which is realized based on the steering force of the steering system, the four-wheel independent driving force of the four motor power architectures, and the suspension damping characteristics of the vehicle. Accordingly, the steering fusion control information is determined based on the steering force of the steering system, the four-wheel independent driving force of the four motor power architectures, and the suspension damping characteristics, and includes steering control information that controls the operation of the steering system and torque distribution information that controls the operation of each drive motor. The central controller 10 transmits the steering control information to the steering controller in the steering system and the torque distribution information to the motor controller in the drive assembly, thereby realizing differential steering control by the steering system, the four motor power architectures, and the suspension. Differential steering control refers to the realization of differentiated control for the driving force and driving direction of each wheel by the action of the four motors during steering.

[0194] When the current vehicle speed is in the third vehicle speed range and the target turning radius is in the third turning radius range, that is, when the current vehicle speed is low and the target turning radius is small, the required steering force exceeds the maximum damping characteristics of the vehicle's suspension. In this case, the power architecture of the four motors needs to be more involved. Therefore, the steering execution method in this case is steering at the limit steering angle, which is achieved based on the steering capability of the steering system and the four-wheel independent driving capability of the four-motor power architecture. Accordingly, the steering fusion control information is determined based on the steering capability of the steering system and the four-wheel independent driving capability of the four-motor power architecture, and includes steering control information that controls the operation of the steering system and torque distribution information that controls the operation of each drive motor. The central controller 10 transmits the steering control information to the steering controller in the steering system and the torque distribution information to the motor controller in the drive assembly, thereby realizing steering at the limit steering angle through the steering system and the power architecture of the four motors. Steering at the limit steering angle means that when steering, the steering wheel is at its limit rotation angle and differentiated control is achieved for the driving force and driving direction of each wheel.

[0195] When the current vehicle speed is in the fourth vehicle speed range and the target turning radius is in the fourth turning radius range, that is, when the current vehicle speed is very low and the target turning radius is very small, the required steering capability exceeds the steering capability when the steering wheel is at its limit turning angle. In this case, the steering execution method is steering at zero turning angle of the steering wheel, which is realized based on the independent driving capability of the four wheels. Accordingly, the steering fusion control information is determined based on the independent driving capability of the four motor power architecture and includes torque distribution information that controls the operation of each drive motor. The central controller 10 transmits the torque distribution information to the motor controller in the drive assembly, thereby realizing steering at zero turning angle of the steering wheel by the power architecture of the four motors. So-called steering at zero turning angle of the steering wheel means that when steering, the steering wheel is at a zero turning angle and differentiated control is realized for the driving force and driving direction of each wheel.

[0196] In some embodiments, when the current vehicle speed is zero and the target turning radius is zero, the steering fusion control information includes a reverse torque of the drive motor corresponding to the inner steering wheel and a forward torque of the drive motor corresponding to the outer steering wheel, in order to achieve on-the-spot U-turn control.

[0197] Specifically, in extreme situations, for example, when the current vehicle speed is zero and the target turning radius is zero, on-the-spot U-turn control can be achieved based on the four-wheel independent drive capability of the four-motor power architecture. For example, a reverse torque can be applied to the drive motor corresponding to the inner steering wheel, and a forward torque can be applied to the drive motor corresponding to the outer steering wheel. The differential torque between the inner and outer steering wheels generates yaw torque at the vehicle's center of gravity. If the yaw torque is sufficiently large, the vehicle will break through the road surface and begin to rotate, and since the vehicle's center of gravity does not displace during the rotation process, an on-the-spot U-turn is achieved.

[0198] In this way, based on the independent drive capability of the four wheels in the power domain, it is possible to perform on-the-spot U-turns in extreme situations.

[0199] In the above embodiment, the central controller can achieve both the convenience of vehicle control and steering safety by fusing data from the power domain and the chassis domain. Furthermore, both the power domain and the chassis domain can perform steering control, and even if either the four-wheel independent drive capability of the power domain or the steering system of the chassis domain fails, the controller can still respond to steering control requests, thereby achieving the objective of balancing comfortable and safe steering control.

[0200] In some embodiments, the central controller 10 further fuses the first and second data based on the target yaw torque and the target yaw torque change rate, and transmits yaw fusion control information to the vehicle components based on the fused data.

[0201] Specifically, the central controller 10 can achieve stable yaw control of the vehicle by performing yaw control integration based on the target yaw torque, the target yaw torque change rate, the independent drive capability of the four wheels in the power domain, and the braking capability of the brake system in the chassis domain.

[0202] In some embodiments, the central controller 10 achieves yaw control by transmitting torque distribution information to the drive assembly based on the drive capability data of the drive assembly when the target yaw torque is less than a predetermined yaw torque; when the target yaw torque is greater than or equal to a predetermined yaw torque and the rate of change of the target yaw torque is greater than a predetermined rate of change of yaw torque; and when the target yaw torque is greater than or equal to a predetermined yaw torque and the rate of change of the target yaw torque is less than or equal to a predetermined rate of change of yaw torque, the central controller 10 achieves yaw control by transmitting brake control information to the brake system and / or torque distribution information to the drive assembly based on the brake capability data of the brake system and the drive capability data of the drive assembly.

[0203] Specifically, yaw control integration refers to achieving yaw control of a vehicle based on the independent four-wheel drive capability of the power domain and the braking capability of the brake system within the chassis domain, such as the independent four-wheel braking capability.

[0204] In practical applications, the specific yaw torque execution method can be decided based on information such as the target yaw torque and the rate of change of the target yaw torque. By utilizing the characteristics that the power domain can respond quickly to adjust the vehicle's yaw torque and the chassis domain's yaw torque becomes more stable, rapid and accurate control of the vehicle's yaw torque is achieved, thereby realizing stable yaw control of the vehicle and achieving the objective of making the yaw safer.

[0205] For example, as shown in Figure 13, the horizontal coordinate represents time, the vertical coordinate represents the target yaw torque, and the slope of the curve represents the rate of change of the target yaw torque.

[0206] When the target yaw torque is smaller than a predetermined yaw torque, both the four-wheel independent drive capability provided by the power domain and the four-wheel independent braking capability provided by the chassis domain can achieve yaw control of the vehicle. Considering that the power domain has the characteristic of responding quickly and adjusting the vehicle's yaw torque, the yaw torque execution method in this case is yaw control achieved based on the four-wheel independent drive capability. Accordingly, the yaw fusion control information is determined based on the four-wheel independent drive capability of the four-motor power architecture and includes torque distribution information that controls the operation of each drive motor. The central controller 10 achieves yaw control by the four-motor power architecture by transmitting the torque distribution information to the motor controllers in the drive assembly.

[0207] When the target yaw torque is greater than or equal to a predetermined yaw torque, and the rate of change of the target yaw torque is greater than the predetermined rate of change of the yaw torque, the target yaw torque increases. However, because the rate of change of the target yaw torque is large, a fast response speed is required in this case. Therefore, the yaw torque execution method in this case is still yaw control realized based on the independent driving capability of the four wheels. Accordingly, the yaw fusion control information is determined based on the independent driving capability of the four motors in the power architecture and includes torque distribution information that controls the operation of each drive motor. The central controller 10 realizes yaw control by the power architecture of the four motors by transmitting the torque distribution information to the motor controllers in the drive assembly.

[0208] When the target yaw torque is greater than or equal to a predetermined yaw torque, and the rate of change of the target yaw torque is less than or equal to a predetermined rate of change of yaw torque, in this case, considering the characteristics that a fast response speed is not required and the yaw torque of the chassis domain is more stable, the yaw torque execution method in this case may be yaw control realized based on the coordination of the four-wheel independent braking capability and the four-wheel independent driving capability, may operate independently, or may operate simultaneously. Accordingly, the yaw fusion control information includes brake control information that is determined based on the four-wheel independent braking capability of the brake system and controls the operation of the brake system, and / or torque distribution information that is determined based on the four-wheel independent driving capability of the power architecture of the four motors and controls the operation of each drive motor. The central controller 10 realizes yaw control by the brake system and / or the drive assembly by transmitting brake control information to the brake controller in the brake system and / or torque distribution information to the motor controller in the drive assembly.

[0209] In the above embodiment, the central controller can achieve rapid control of the vehicle's yaw stability by fusing data from the power domain and the chassis domain. Both the power domain and the chassis domain can perform yaw control, and even if either the four-wheel independent drive capability of the power domain or the four-wheel braking capability of the chassis domain fails, yaw control can still be performed, thereby achieving the objective of balancing comfortable and safe yaw control.

[0210] In some embodiments, the central controller 10 fuses the first data and the second data based on the target longitudinal torque and the target longitudinal torque change rate, and transmits longitudinal fusion control information to the vehicle components based on the fused data.

[0211] Specifically, the central controller 10 can achieve safe longitudinal control of the vehicle by performing longitudinal control integration based on the target longitudinal torque, the target longitudinal torque change rate, the independent four-wheel drive capability of the power domain, and the independent four-wheel braking capability of the chassis domain.

[0212] In some embodiments, the central controller 10 achieves longitudinal control by transmitting torque distribution information to the drive assembly based on the drive capability data of the drive assembly when the target longitudinal torque is positive, when the target longitudinal torque is negative and the rate of change of the target longitudinal torque is greater than a predetermined rate of change of longitudinal torque, by transmitting torque distribution information to the drive assembly based on the drive capability data of the drive assembly, and / or by transmitting torque distribution information to the drive assembly when the target longitudinal torque is negative and the rate of change of the target longitudinal torque is less than or equal to a predetermined rate of change of longitudinal torque, and when the brake capability data of the brake system and the drive capability data of the drive assembly are less than or equal to a predetermined rate of change of longitudinal torque.

[0213] Specifically, longitudinal control integration refers to achieving longitudinal control of each wheel based on the independent four-wheel drive capability in the power domain and the independent four-wheel braking capability in the chassis domain.

[0214] In practical applications, the specific longitudinal torque execution method can be determined based on information such as the target longitudinal torque and the target longitudinal torque change rate. By utilizing the characteristics that the power domain can respond quickly to adjust the longitudinal torque of each wheel, and the longitudinal torque of the chassis domain becomes more stable, rapid and accurate control of the longitudinal torque of each wheel is achieved, thereby realizing longitudinal stability control of the vehicle and achieving the objective of ensuring safety in the longitudinal direction.

[0215] For example, as shown in Figure 14, the horizontal coordinate represents time, the vertical coordinate represents the target longitudinal torque, and the slope of the curve represents the rate of change of the target longitudinal torque.

[0216] When the target longitudinal torque is positive torque, the power domain can provide positive torque, so the longitudinal torque execution method in this case is longitudinal control realized based on the independent drive capability of the four wheels. Accordingly, the longitudinal fusion control information is determined based on the independent drive capability of the four motors' power architecture and includes torque distribution information that controls the operation of each drive motor. The central controller 10 realizes longitudinal control by the power architecture of the four motors by transmitting the torque distribution information to the motor controllers in the drive assembly.

[0217] When the target longitudinal torque is negative and the rate of change of the target longitudinal torque is greater than a predetermined rate of change of longitudinal torque, both the power domain and the chassis domain can provide negative torque. However, in this case, the rate of change of the target longitudinal torque is greater than a predetermined rate of change of longitudinal torque, requiring a fast response speed. Considering that the power domain has the characteristic of responding quickly and adjusting the longitudinal torque of each wheel, the longitudinal torque execution method in this case is longitudinal control realized based on the independent drive capability of the four wheels. Accordingly, the longitudinal fusion control information is determined based on the independent drive capability of the four motors in the power architecture and includes torque distribution information that controls the operation of each drive motor. The central controller 10 realizes longitudinal control by the power architecture of the four motors by transmitting the torque distribution information to the motor controllers in the drive assembly.

[0218] When the target longitudinal torque is negative and the rate of change of the target longitudinal torque is less than or equal to a predetermined rate of change of longitudinal torque, both the power domain and the chassis domain can provide negative torque. In this case, the rate of change of the target longitudinal torque is less than or equal to a predetermined rate of change of longitudinal torque, and a fast response speed is not required. Considering the characteristics that the longitudinal torque of the chassis domain is more stable, the longitudinal torque execution method in this case may be longitudinal control realized based on the coordination of the four-wheel independent braking capability and the four-wheel independent driving capability, and may operate independently or simultaneously. Accordingly, the longitudinal fusion control information includes brake control information determined based on the four-wheel independent braking capability of the brake system and controlling the operation of the brake system, and / or torque distribution information determined based on the four-wheel independent driving capability of the power architecture of the four motors and controlling the operation of each drive motor. The central controller 10 transmits brake control information to the brake controller in the brake system and / or torque distribution information to the motor controller in the drive assembly, thereby realizing longitudinal control by the brake system and / or the drive assembly.

[0219] In the above embodiment, the central controller can achieve rapid control of the vehicle's longitudinal stability by fusing data from the power domain and the chassis domain. Furthermore, the power domain can implement brake control, and even if the chassis domain's brake system fails, the power domain's independent four-wheel drive capability can still ensure reliable braking of the vehicle, thereby ensuring safety in emergency situations.

[0220] In some embodiments, the central controller 10 further transmits vertical control information to the suspension within the chassis domain based on the actual ground longitudinal section information of each wheel to perform vertical adjustments.

[0221] Specifically, during the vehicle's journey, the central controller 10 predicts the vehicle's trajectory and acquires trajectory planning information for the vehicle, and further predicts and acquires trajectory planning information for each wheel. Next, based on the trajectory planning information for each wheel, it determines the actual ground longitudinal section information in the predicted trajectory of each wheel, for example, the actual ground longitudinal section curve. For specifics, see below, which will be omitted here. Finally, based on the actual ground longitudinal section information for each wheel, the distance between the longitudinal section and each wheel, and the current wheel speed of each wheel, the central controller 10 pre-adjusts the suspension height of each wheel in combination with the adjustment speed of the vehicle's suspension height within the chassis domain, and also adjusts the suspension damping, thereby maximizing control of the vehicle's longitudinal comfort.

[0222] Furthermore, when the vehicle is in autonomous driving mode, the central controller 10 can further improve the vehicle's longitudinal comfort by adjusting the longitudinal motion speed of the suspension of each wheel.

[0223] In the above embodiment, by pre-adjusting the suspension of each wheel within the chassis domain based on the actual longitudinal section information of the ground for each wheel, the comfort of the vehicle when driving on uneven ground can be improved.

[0224] In the above-described embodiments, the central controller integrates the performance capabilities of actuators in each functional domain based on the conventional control needs of the vehicle, thereby realizing steering fusion control, yaw fusion control, and longitudinal fusion control of the vehicle. This fully utilizes the performance capabilities of each actuator within the vehicle, resulting in better and faster steering control, yaw control, longitudinal control, and suspension height adjustment, thereby improving the vehicle's performance.

[0225] In some embodiments, the multiple different functional domains further include a second functional domain 22 and a third functional domain 23, and the central controller 10 further acquires first data from at least one vehicle component in the first functional domain 21, second data from at least one vehicle component in the second functional domain 22 and third data from at least one vehicle component in the third functional domain 23, and merges the first data, second data and third data to obtain vehicle driving status information.

[0226] Specifically, the central controller 10 is advantageous in achieving more accurate vehicle control by fusing the first, second, and third data from three of the multiple functional domains, for example, the first functional domain 21, the second functional domain 22, and the third functional domain 23, as in the sensing fusion described above, thereby acquiring vehicle state data, ground state data, etc. that are closer to reality.

[0227] Furthermore, the first data represents the vehicle state obtained from at least one vehicle component within the first functional domain 21, the second data represents the vehicle state obtained from at least one vehicle component within the second functional domain 22, and the third data represents the vehicle state obtained from at least one vehicle component within the third functional domain 23.

[0228] For example, the first functional domain 21 may be a power domain, the second functional domain 22 may be a chassis domain, and the third functional domain 23 may be an intelligent driving domain. The vehicle driving state obtained from at least one vehicle component in the first functional domain 21 may include the actual driving torque of each wheel after preprocessing, the wheel speed of each wheel obtained based on rotational change information, etc. That is, the first data may include the actual driving torque and wheel speed of each wheel, and is obtained from at least one vehicle component in the second functional domain 22. The vehicle driving state obtained may include the actual brake torque of each wheel after preprocessing, wheel speed, wheel rotation angle, steering wheel rotation angle, and the vehicle's six-degree-of-freedom inertia information. In other words, the second data includes the actual brake torque of each wheel, wheel speed, wheel rotation angle, steering wheel rotation angle, and the vehicle's six-degree-of-freedom inertia information. The vehicle driving state obtained from at least one vehicle component within the third functional domain 23 may include distance information, ground image information, and position information after preprocessing. In other words, the third data may include distance information, ground image information, and position information. The central controller 10 performs centralized fusion based on the data transmitted from each functional domain and the data from the directly connected inertia measurement unit and wheel speed sensor, ultimately obtaining accurate and predictable vehicle state data, ground state data, etc.

[0229] In some embodiments, the second functional domain 22 is a chassis domain, the third functional domain 23 is an intelligent driving domain, and the central controller 10 senses and fuses the first data, second data and third data to acquire vehicle driving status information, which includes at least vehicle status data, ground status data or vehicle surrounding space data.

[0230] Specifically, if vehicle status data, ground condition data, and surrounding space data can be clearly and accurately acquired during the vehicle's operation, the vehicle can be controlled better. Furthermore, by using an information fusion method, it is possible to acquire vehicle status data, ground condition data, and surrounding space data that are closer to reality. As a result, the central controller 10 can sense and fuse data from the power domain, chassis domain, and intelligent driving domain. This sense fusion mainly involves estimating the vehicle state, identifying the ground condition, and identifying the surrounding environment, thereby acquiring vehicle status data, ground condition data, and surrounding space data that are closer to reality, which is advantageous in improving the safety and comfort of vehicle control.

[0231] In some embodiments, the first data includes the first wheel speed of each wheel, the second data includes the second wheel speed of each wheel, the first six-degree-of-freedom inertia information, and the rotation angle of the steering wheel, and the third data includes the first vehicle speed. The central controller 10 performs fusion to acquire vehicle state data based on the first wheel speed of each wheel, the second wheel speed of each wheel, the first six-degree-of-freedom inertia information, the rotation angle of the steering wheel, and the first vehicle speed.

[0232] Specifically, the first functional domain 21 is the power domain, and the corresponding first data may include the wheel speed of each wheel (referred to as the first wheel speed); the second functional domain 22 is the chassis domain, and the corresponding second data may include the wheel speed of each wheel (referred to as the second wheel speed), the vehicle's six-degree-of-freedom inertial information (referred to as the first six-degree-of-freedom inertial information), and the rotation angle of the steering wheel; and the third functional domain 23 is the intelligent driving domain, and the corresponding third data may include the vehicle speed (referred to as the first vehicle speed) acquired based on a high-precision positioning device. The central controller 10 can perform fusion to acquire vehicle state data based on the first wheel speed of each wheel, the second wheel speed of each wheel, the first six-degree-of-freedom inertial information, the rotation angle of the steering wheel, and the first vehicle speed. The first wheel speed is obtained by pre-processing rotational change information of each wheel. Specifically, the rotational speed of the drive motor is collected by a resolver on the drive motor, and then converted based on the rotational speed and the reduction ratio of the speed reducer. In other words, the first wheel speed is the ratio of the rotational speed to the reduction ratio, while the second wheel speed is detected and obtained by a wheel speed sensor.

[0233] In some embodiments, the first data further includes the driving torque of each wheel, and the second data further includes the braking torque and steering wheel rotation angle of each wheel. The central controller 10 performs fusion to acquire vehicle state data based on the first wheel speed, second wheel speed, first six-degree-of-freedom inertia information, the driving torque of each wheel, the braking torque of each wheel, and the steering wheel rotation angle of each wheel.

[0234] In other words, the central controller 10 can further perform fusion to acquire vehicle state data based on the first wheel speed and driving torque of each wheel in the power domain, as well as the second wheel speed, first sixth-degree-of-freedom inertia information, brake torque and steering wheel rotation angle of each wheel in the chassis domain.

[0235] In some embodiments, the vehicle state data includes the current vehicle speed, and the central controller 10 obtains the current wheel speed of each wheel by fusing the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of the vehicle component directly connected to the central controller 10, and obtains the current six-degree-of-freedom inertia information by fusing the first six-degree-of-freedom inertia information and the second six-degree-of-freedom inertia information of the vehicle component directly connected to the central controller 10, and determines the current vehicle speed based on the current wheel speed of each wheel, the current six-degree-of-freedom inertia information, the rotation angle of the steering wheel, and the first vehicle speed.

[0236] Specifically, the central controller 10 is further directly connected to multiple wheel speed sensors and an inertia measurement unit. The multiple wheel speed sensors acquire the wheel speed of each wheel (referred to as the third wheel speed), and the inertia measurement unit acquires the vehicle's six-degree-of-freedom inertia information (referred to as the second six-degree-of-freedom inertia information).

[0237] When acquiring the current vehicle speed, the central controller 10 first performs wheel speed fusion on the first wheel speed of each wheel in the power domain, the second wheel speed of each wheel in the chassis domain, and the third wheel speed of each wheel directly connected to the central controller itself to acquire the current wheel speed of each wheel. It also performs inertial information fusion on the first six-degree-of-freedom inertial information of the vehicle in the chassis domain and the second six-degree-of-freedom inertial information of the vehicle directly connected to the central controller itself to acquire the current six-degree-of-freedom inertial information of the vehicle. Next, it can acquire the current vehicle speed based on the current wheel speed of each wheel, the current six-degree-of-freedom inertial information, the rotation angle of the steering wheel in the chassis domain, and the first vehicle speed in the intelligent driving domain.

[0238] For example, the central controller 10 can first verify the third wheel speed of each wheel and the second wheel speed of each wheel in the chassis domain to obtain the fourth wheel speed of each wheel, and then verify the fourth wheel speed of each wheel and the first wheel speed of each wheel in the power domain to obtain the current wheel speed of each wheel.

[0239] When performing wheel speed fusion using one of the wheels as an example, the central controller 10 first verifies the third wheel speed and the second wheel speed of that wheel. If both the third wheel speed and the second wheel speed are normal (within the valid and normal range) and the difference between them is within the first predetermined threshold range, the average value of the third wheel speed and the second wheel speed is obtained to obtain the fourth wheel speed. If both the third wheel speed and the second wheel speed are normal and the difference between them is not within the first predetermined threshold range, the third wheel speed is used as the reference. That is, if the fourth wheel speed is equal to the third wheel speed, and only one of the third wheel speed and the second wheel speed is normal, the normal wheel speed is taken as the fourth wheel speed. Next, the central controller 10 verifies the fourth wheel speed and the first wheel speed of the wheel. If both the fourth wheel speed and the first wheel speed are normal and the difference between them is within a first predetermined threshold range, the controller obtains the current wheel speed by taking the average value of the fourth wheel speed and the first wheel speed. If both the fourth wheel speed and the first wheel speed are normal and the difference between them is not within a first predetermined threshold range, the controller uses the fourth wheel speed as the reference. That is, if the current wheel speed is equal to the fourth wheel speed and only one of the fourth wheel speed and the first wheel speed is normal, the controller takes the normal wheel speed as the current wheel speed.

[0240] The process for determining the current wheel speed of each other wheel is the same as described above and will not be explained in detail here. When determining the current wheel speed, one may first verify the first and second wheel speeds, then the third wheel speed, or first verify the first and third wheel speeds, then the second wheel speed, or verify the first, second, and third wheel speeds simultaneously. In practical applications, one of these methods can be selected to determine the current wheel speed based on data transmission delay. For example, considering the transmission delay of the first wheel speed, by first verifying the third and second wheel speeds, and then the first wheel speed, the delay due to the transmission path of the first wheel speed can be eliminated, and a wheel speed with high real-time performance and accuracy can be obtained.

[0241] Furthermore, the central controller 10 can obtain current six-degree-of-freedom inertial information by performing inertial information fusion on the first six-degree-of-freedom inertial information of the vehicle in the chassis domain and the second six-degree-of-freedom inertial information of the vehicle directly connected to the central controller itself. This process may be performed before determining the current wheel speed of each wheel.

[0242] For example, when performing inertial information fusion, the central controller 10 verifies the first six-degree-of-freedom inertial information and the second six-degree-of-freedom inertial information. If both the first and second six-degree-of-freedom inertial information are normal (valid and within the normal range) and the difference between them is within the second predetermined threshold range, the central controller 10 obtains the current six-degree-of-freedom inertial information by obtaining the average value of the first and second six-degree-of-freedom inertial information. If both the first and second six-degree-of-freedom inertial information are normal and the difference between them is not within the second predetermined threshold range, the central controller 10 uses the second six-degree-of-freedom inertial information as the reference; that is, if the current six-degree-of-freedom inertial information is equal to the second six-degree-of-freedom inertial information, and only one of the first and second six-degree-of-freedom inertial information is normal, the normal six-degree-of-freedom inertial information is used as the current six-degree-of-freedom inertial information. Furthermore, before fusing the first and second six-degree-of-freedom inertial information, it is possible to obtain the current six-degree-of-freedom inertial information based on the vehicle's center of gravity by first performing an appropriate coordinate transformation.

[0243] Finally, the central controller 10 obtains the current vehicle speed based on the current wheel speed of each wheel, the current six-degree-of-freedom inertia information, the rotation angle of the steering wheel in the chassis domain, and the first vehicle speed in the intelligent driving domain.

[0244] For example, the central controller 10 first obtains a second vehicle speed by fusing the current wheel speed of each wheel, the current six-degree-of-freedom inertia information, and the rotation angle of the steering wheel in the chassis domain. Next, it obtains a weighted vehicle speed by weighting the second vehicle speed and the first vehicle speed in the intelligent driving domain. Based on the weighted vehicle speed, it can estimate and obtain the current vehicle speed of the vehicle using a Kalman filtering method.

[0245] In some embodiments, the central controller 10 converts the current wheel speed of each wheel to an initial center of gravity vehicle speed based on the vehicle's center of gravity, based on the current six-degree-of-freedom inertia information and the rotation angle of the steering wheel, obtains the average center of gravity vehicle speed, determines the motion state of each wheel based on the first vehicle speed and the current wheel speed of each wheel, weights the average center of gravity vehicle speed and the first vehicle speed based on the motion state of each wheel to obtain a weighted vehicle speed, and determines the current vehicle speed based on the weighted vehicle speed, the current six-degree-of-freedom inertia information and the motion state of each wheel.

[0246] Specifically, there are various methods for determining the current vehicle speed. For example, the central controller 10 first calculates the vehicle's lateral acceleration, longitudinal acceleration, and yaw rate based on the vehicle's geometric parameters and current six-degree-of-freedom inertia information. It then converts the current wheel speed of each wheel into an initial center of gravity vehicle speed based on the vehicle's wheel track, wheelbase, steering wheel rotation angle (if the steering wheel is the front wheel, i.e., the front wheel rotation angle) and yaw rate. It then calculates the average of the initial center of gravity vehicle speeds to obtain the average center of gravity vehicle speed. Next, it determines whether each wheel is slipping or skidding based on the relationship between the first vehicle speed and the current wheel speed of each wheel. For example, when the vehicle is braked, if the first vehicle speed is greater than the current wheel speed of the wheel (a suitable error range may be added), the wheel is in a slipping state. The system determines that when the vehicle is driven, if the first vehicle speed is smaller than the current wheel speed (which may include an appropriate error range), then it is determined that the wheel is in a slipping state. Next, based on the slip or sliding determination result for each wheel, the average center of gravity vehicle speed and the first vehicle speed are weighted to obtain a weighted vehicle speed. For example, the more severe the slip and sliding condition, the higher the weight of the first vehicle speed. Finally, the system determines the current vehicle speed based on the weighted vehicle speed, the current six-degree-of-freedom inertia information, and the motion state of each wheel. For example, the weighted vehicle speed is used as the measured value, the current vehicle speed as the estimated value, the longitudinal acceleration (obtained based on the current six-degree-of-freedom inertia information) as the control variable, and the noise as the calibration variable. The system obtains an observation matrix from the output matrix of the slip condition of each wheel, and performs Kalman filtering to obtain the current vehicle speed.

[0247] In the above embodiment, the central controller integrates rotational change information from the power domain, wheel speed information and six-degree-of-freedom inertia information from the chassis domain, and high-precision positioning signals and six-degree-of-freedom inertia information built into the central controller from the intelligent driving domain, and estimates the vehicle speed using a Kalman filtering algorithm. This allows for more accurate identification of the current vehicle speed, which is advantageous for precise vehicle control.

[0248] In some embodiments, the vehicle state data includes the actual mass of the vehicle. The central controller 10 fuses the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of the vehicle components directly connected to the central controller 10 to obtain the current wheel speed of each wheel. It then fuses the first six-degree-of-freedom inertia information and the second six-degree-of-freedom inertia information of the vehicle components directly connected to the central controller 10 to obtain the current six-degree-of-freedom inertia information. Based on the current wheel speed of each wheel, the current six-degree-of-freedom inertia information, the steering wheel rotation angle, the driving torque of each wheel, and the braking torque of each wheel, the central controller 10 determines the actual mass of the vehicle.

[0249] Specifically, the central controller 10 can acquire the current wheel speed and current six-degree-of-freedom inertia information of each wheel based on the method described above. For details, please refer to the previously mentioned information, and the explanation will be omitted here. Then, based on the current wheel speed of each wheel, the current six-degree-of-freedom inertia information, the steering wheel rotation angle in the chassis domain, the driving torque of each wheel in the power domain, and the braking torque of each wheel in the chassis domain, the actual mass of the vehicle is obtained by estimating the mass of the vehicle using the recursive least squares method. There are various methods for obtaining the actual mass of the vehicle. For example, as can be seen from Newton's second law F=ma, if force F and acceleration a are acquired, the initial mass m of the vehicle can be calculated. F may be calculated based on the driving torque and braking torque of each wheel, and a may be calculated based on the current six-degree-of-freedom inertia information, the steering wheel rotation angle, and the current wheel speed. For example, the longitudinal acceleration a1 of the vehicle can be determined based on the current six-degree-of-freedom inertia information, a1 can be corrected using the steering wheel rotation angle, and acceleration a2 can be calculated by differentiation using the current wheel speed. Finally, a can be obtained by weighting the corrected longitudinal acceleration a1 and acceleration a2. Lastly, m can be calculated based on Newton's second law, and m calculated by the recursive least squares method can be corrected to finally obtain the actual mass of the vehicle.

[0250] In the above embodiment, the central controller is advantageous for vehicle control because it can more accurately identify vehicle state data, such as the actual mass of the vehicle, by fusing information from the power domain, chassis domain, and intelligent driving domain.

[0251] In some embodiments, the first data includes the first wheel speed and driving torque of each wheel, the second data includes the second wheel speed, braking torque of each wheel, first six-degree-of-freedom inertia information, and steering wheel rotation angle, and the third data includes the first vehicle speed and ground image information. The central controller 10 performs fusion to acquire ground condition data based on the first wheel speed, driving torque of each wheel, second wheel speed of each wheel, first six-degree-of-freedom inertia information, braking torque of each wheel, steering wheel rotation angle, first vehicle speed, and ground image information.

[0252] Specifically, the first functional domain 21 is the power domain, and the corresponding first data may include the first wheel speed and driving torque of each wheel; the second functional domain 22 is the chassis domain, and the corresponding second data may include the second wheel speed, brake torque, first sixth-degree-of-freedom inertia information, and steering wheel rotation angle of each wheel; and the third functional domain 23 is the intelligent driving domain, and the corresponding third data may include the first vehicle speed and ground image information. The central controller 10 can perform fusion to acquire ground condition data based on the first wheel speed and driving torque of each wheel in the power domain, the second wheel speed, brake torque, first sixth-degree-of-freedom inertia information, and steering wheel rotation angle of each wheel in the chassis domain, and the first vehicle speed and ground image information in the intelligent driving domain.

[0253] In some embodiments, the ground condition data includes the actual ground type, the central controller 10 performs feature extraction on the ground image information to obtain ground feature information, matches the ground feature information with predetermined feature information to obtain the actual ground type, and there is a correspondence between the predetermined feature information and the ground type.

[0254] Specifically, the central controller 10 can be pre-configured with a feature information base in which predetermined feature information and ground types corresponding to the predetermined feature information are stored. The ground types may include ordinary ground types such as concrete ground and cement ground, as well as special ground types such as sandy ground, snowy ground, and grassy ground.

[0255] For example, the central controller 10 can first pre-process the ground image information of the intelligent driving domain (e.g., noise reduction, enhancement), extract ground feature information from the pre-processed ground image information, then match the extracted ground feature information with predetermined feature information in the feature information base, and if the ground feature information matches the predetermined feature information, the ground type corresponding to the predetermined feature information is set as the actual ground type, and if the ground feature information does not match the predetermined feature information, the ground type corresponding to the closest predetermined feature information is selected as the actual ground type.

[0256] In actual applications, the actual ground type can be obtained by classification using a neural network model. For example, an initial neural network model may be determined first, and then the initial neural network model may be trained based on ground sample images to obtain a trained neural network model. The central controller 10 extracts ground feature information from the ground image information, inputs the extracted ground feature information into the trained neural network model, and performs ground type classification using the neural network model to obtain the actual ground type.

[0257] In the above embodiment, by using visual information to identify the actual ground type, vehicle preview control can be realized, improving the vehicle's control performance. Furthermore, by having the vehicle automatically switch the corresponding control mode based on the actual ground type, performance can be improved and driver intervention can be reduced.

[0258] In some embodiments, the ground condition data includes actual ground contact information for each wheel, and the central controller 10 determines first ground contact information based on the actual ground type, second ground contact information for each wheel based on the first wheel speed, second wheel speed for each wheel, first six-degree-of-freedom inertia information, steering wheel rotation angle, first vehicle speed, driving torque for each wheel, and braking torque for each wheel, and determines actual ground contact information for each wheel based on the first ground contact information and the second ground contact information for each wheel.

[0259] Specifically, the central controller 10 can determine first ground contact information from a visual perspective, and this first ground contact information may be the first ground contact information of the vehicle or the first ground contact information of each wheel. It can also determine second ground contact information from a dynamic perspective, and this second ground contact information may be the second ground contact information of each wheel. Next, it performs adhesion information fusion on the first ground contact information and the second ground contact information to obtain the actual ground contact information of each wheel.

[0260] For example, when determining the first ground contact information, it can be determined based on the actual ground type, and the specific determination method can vary. For instance, the first ground contact information for a vehicle can be determined using a table lookup method based on the actual ground type corresponding to the vehicle, or the first ground contact information for each wheel can be determined using a table lookup method based on the actual ground type corresponding to each wheel.

[0261] When determining the second ground contact information, the first wheel speed and driving torque of each wheel in the power domain, the second wheel speed and braking torque of each wheel in the chassis domain, the first sixth-degree-of-freedom inertia information and the rotation angle of the steering wheel (if the steering wheel is a front wheel, this is the rotation angle of the front wheel), and the first vehicle speed in the intelligent driving domain can be combined to determine the second ground contact information for each wheel.

[0262] When determining the actual ground adhesion information of each wheel, the first ground adhesion information of the vehicle and the second ground adhesion information of each wheel can be fused, or the first ground adhesion information and the second ground adhesion information of each wheel can be fused to obtain the actual ground adhesion information of each wheel.

[0263] In some embodiments, the central controller 10 determines the first ground adhesion information based on the actual ground type and the mapping relationship between the predetermined ground type and the ground adhesion information.

[0264] Specifically, a mapping relationship table between the ground type and the ground adhesion information can be preset in the central controller 10. When the central controller 10 obtains the actual ground type by the above-mentioned method, based on the actual ground type, it can search from the mapping relationship table to obtain the corresponding ground adhesion information as the first ground adhesion information.

[0265] In some embodiments, the central controller 10 fuses the first six-degree-of-freedom inertial information and the second six-degree-of-freedom inertial information of the vehicle parts directly connected to the central controller 10 to obtain the current six-degree-of-freedom inertial information, and fuses the first wheel speed of each wheel, the second wheel speed of each wheel, and the third wheel speed of each wheel of the vehicle parts directly connected to the central controller 10 to obtain the current wheel speed of each wheel. Based on the current wheel speed of each wheel, the current six-degree-of-freedom inertial information, the rotation angle of the steering wheel, and the first vehicle speed, the current vehicle speed is determined. Based on the current six-degree-of-freedom inertial information, the rotation angle of the steering wheel, and the actual mass of the vehicle, the dynamic load of each wheel is determined. Based on the driving torque and the braking torque of each wheel, the longitudinal force of each wheel is determined. Based on the current wheel speed and the current vehicle speed of each wheel, the slip ratio of each wheel is determined. Based on the longitudinal force, slip ratio, and dynamic load of each wheel, the second ground adhesion information of each wheel is determined.

[0266] Specifically, the central controller 10 can determine the vehicle's current six-degree-of-freedom inertia information, the current wheel speed of each wheel, the current vehicle speed, and the actual vehicle mass using the method described above. For details, please refer to the previously mentioned information, and the explanation will be omitted here. Next, based on the current six-degree-of-freedom inertia information, the rotation angle of the steering wheel, the vehicle's geometric parameters, and the actual vehicle mass, the dynamic load of each wheel is estimated and obtained. Based on the drive torque of each wheel in the power domain and the brake torque of each wheel in the chassis domain, the longitudinal force of each wheel is estimated and obtained. Based on the current wheel speed and current vehicle speed of each wheel, the slip ratio of each wheel is estimated and obtained.

[0267] There are various methods for estimating the dynamic load of each wheel. For example, the vertical acceleration of each wheel can be calculated based on the current six-degree-of-freedom inertia information, the steering wheel rotation angle, and the vehicle's geometric parameters. For instance, the current six-degree-of-freedom inertia information may include the vehicle's longitudinal acceleration, lateral acceleration, and vertical acceleration, and the vehicle's geometric parameters may include the vehicle's wheelbase and axle distance. Furthermore, the vertical acceleration of each wheel can be calculated using a certain conversion relationship based on the current six-degree-of-freedom inertia information, the steering wheel rotation angle, and the vehicle's geometric parameters. Additionally, the static load of each wheel can be calculated based on the steering wheel rotation angle, the vehicle's geometric parameters, and the actual mass of the vehicle. Finally, the dynamic load of each wheel can be obtained by searching a mapping relationship table between dynamic load, vertical acceleration, and static load based on the vertical acceleration and static load of each wheel.

[0268] There are various methods for estimating the longitudinal force of each wheel. For example, the longitudinal force of each wheel can be obtained by acquiring the torque difference between the driving torque and the braking torque of each wheel.

[0269] There are various methods for estimating the slip ratio of each wheel. For example, the slip ratio of each wheel can be calculated based on the formula: slip ratio = (current vehicle speed - current wheel speed) / current vehicle speed.

[0270] Finally, based on the longitudinal force, slip ratio, and dynamic load of each wheel, the second ground contact information for each wheel is estimated and obtained. There are various specific calculation methods, but as an example, the second ground contact information can be obtained by first obtaining the ratio of longitudinal force to dynamic load, then obtaining ground contact correction information by searching a mapping relationship table between predetermined ground contact information and the slip ratio based on the slip ratio, and finally correcting the second ground contact information based on the ground contact correction information to obtain the final second ground contact information.

[0271] In some embodiments, the central controller 10 determines the motion state of each wheel based on the current vehicle speed and the current wheel speed of each wheel, and based on the motion state of each wheel, it performs a weighting process on the first ground contact information and the second ground contact information of each wheel to obtain the actual ground contact information of each wheel.

[0272] Specifically, the central controller 10 can determine the current vehicle speed and the current wheel speed of each wheel using the method described above. Specifically, refer to the above and will omit the explanation here. Next, based on the current vehicle speed and the current wheel speed of each wheel, it determines the motion state of each wheel. The motion state may include a sliding state, a slipping state, and a skidding state. A sliding state refers to a state in which the vehicle continues to move due to the kinetic energy (inertial force) of the vehicle itself or the potential energy due to going downhill during the process of driving. A skidding state refers to a state in which, during the braking process, the vehicle speed is the same as the wheel speed. A slipping state refers to a condition where the wheel speed of a vehicle is greater than the vehicle speed during acceleration. For example, when the vehicle is braked, if the current vehicle speed is greater than the current wheel speed of the wheel (a suitable margin of error may be added), the wheel is determined to be in a slipping state. When the vehicle is driven, if the current vehicle speed is less than the current wheel speed of the wheel (a suitable margin of error may be added), the wheel is determined to be in a slipping state. Finally, based on the motion state of each wheel, the first ground contact information and the second ground contact information for each wheel are weighted to obtain the actual ground contact information for each wheel.

[0273] In some embodiments, the central controller 10 determines that the actual ground contact information is the first ground contact information when the motion state is a sliding state, and determines that the actual ground contact information is the second ground contact information when the motion state is a slip or sliding state.

[0274] Specifically, when the vehicle is in a sliding state, the accuracy of the second ground contact information identified based on dynamic information is low, so in this case, the first ground contact information identified based on visual information is used as the actual ground contact information. When the vehicle is in a slipping or sliding state, the reference value of the first ground contact information identified based on visual information is small, so in this case, the second ground contact coefficient identified based on dynamic information is used as the actual ground contact information. When the vehicle is in a normal driving state, i.e., the accelerator pedal or brake pedal is pressed and the vehicle is not locked, the first and second ground contact information are weighted to obtain the actual ground contact information.

[0275] In the above embodiment, actual ground adhesion information can be identified by fusing visual information and dynamic information, and ground adhesion information can be estimated using visual information before being estimated using dynamic information, thereby enabling the acquisition of highly accurate and real-time actual ground adhesion information.

[0276] In some embodiments, the central controller 10 further generates a new ground type corresponding to the ground feature information if the degree of matching between the ground feature information and each predetermined feature information is less than a predetermined degree of matching, and updates the mapping relationship between the ground type and the ground adhesion information based on the ground feature information, the new ground type, and the second ground adhesion information of each wheel.

[0277] Specifically, when the central controller 10 identifies the actual ground type in combination with ground feature information, if the ground feature information does not match each predetermined feature in the feature information base, i.e., if the degree of matching is less than a predetermined degree of matching, it can select the ground type corresponding to the closest predetermined feature as the actual ground type, add the new ground type to the feature information base, and store the new ground type in correspondence with the current ground feature information. Furthermore, the central controller 10 can update the mapping relationship between ground type and ground adhesion information based on the newly added ground type and the current second ground adhesion information of each wheel. For example, if the ground adhesion information in the mapping relationship table is the ground adhesion information of the vehicle, the average value of the second ground adhesion information of each wheel can be used as the ground adhesion information corresponding to the new ground type. If the ground adhesion information in the mapping relationship table is the ground adhesion information of each wheel, the second ground adhesion information of each wheel can be used as the ground adhesion information corresponding to the new ground type. In this way, self-learning of the algorithm is realized.

[0278] In some embodiments, the ground condition data includes actual ground longitudinal section information for each wheel, and the central controller 10 collects height information from the ground image information to obtain ground relief height information, and determines the actual ground longitudinal section information for each wheel based on the ground relief height information and the trajectory planning information for each wheel.

[0279] Specifically, the central controller 10 first preprocesses the ground image information of the intelligent driving domain (e.g., noise reduction, enhancement), and corrects the preprocessed ground image information based on the position of the on-board camera that acquired the ground image information to obtain more accurate vertical ground image information. Next, it collects height information from the vertical ground image information to obtain ground relief height information, such as a contour map. Finally, it processes the ground relief height information based on the trajectory planning information of each wheel, and for example, cuts the contour map to obtain actual ground longitudinal section information in the predicted trajectory of each wheel, such as an actual ground longitudinal section curve. The trajectory planning information of each wheel may be predicted based on information such as the vehicle's current speed, current six-degree-of-freedom inertia information, and the rotation angle of the steering wheel.

[0280] In the above embodiment, the central controller is advantageous for vehicle control because it can more accurately identify ground condition data, such as the actual longitudinal section information of each wheel, by fusing information from the power domain, chassis domain, and intelligent driving domain.

[0281] In some embodiments, the third data includes multiple pieces of vehicle surrounding environment information, and the central controller 10 performs fusion based on the multiple pieces of vehicle surrounding environment information to obtain vehicle surrounding spatial data.

[0282] Specifically, the third functional domain 23 is an intelligent driving domain, and the corresponding third data may include multiple pieces of vehicle surrounding environment information, specifically, distance information after preliminary processing, ground image information, location information, etc., and the central controller 10 can acquire vehicle surrounding space data, such as vehicle surrounding obstacle data, road data, etc., based on the distance information, ground image information, location information, etc.

[0283] In some embodiments, the first functional domain 21 is a power domain, the second functional domain 22 is a chassis domain, the third functional domain 23 is an intelligent driving domain, and the central controller 10 makes a decision fusion for the first data, the second data, and the third data to obtain trajectory planning information.

[0284] Specifically, the central controller 10 can perform a fusion process on the first data, the second data, and the third data of the power domain, the chassis domain, and the intelligent driving domain. The decision fusion as described above mainly includes a primary path planning based on the surrounding environment information and a correction plan based on the motion execution ability estimated during the control fusion, so as to obtain more accurate trajectory planning information.

[0285] In some embodiments, the first data includes the driving ability data of the drive assembly in the power domain, the second data includes the braking ability data of the braking system and the steering ability data of the steering system in the chassis domain, the third data includes multiple vehicle surrounding environment information, the central controller 10 performs a fusion based on the multiple vehicle surrounding environment information to obtain vehicle surrounding space data, and performs a trajectory planning based on the vehicle surrounding space data to obtain trajectory planning information, and corrects the trajectory planning information based on the driving ability data of the drive assembly, the braking ability data of the braking system, and the steering ability data of the steering system to obtain the corrected trajectory planning information.

[0286] Specifically, the central controller 10 can first acquire vehicle surrounding space data based on the aforementioned method, and more specifically, referring to the above, the explanation is omitted here, and based on the vehicle surrounding space data, it performs a primary path plan for the vehicle to acquire initial trajectory planning information. Next, it combines the drive capability data of multiple drive assemblies in the power domain, the brake capability data of the brake system in the chassis domain, and the steering capability data of the steering system in the chassis domain to determine the vehicle's execution boundary information, and by correcting the initial trajectory planning information based on the execution boundary information, it acquires more accurate vehicle trajectory planning information that is closer to reality.

[0287] In this way, by combining vehicle surrounding environment information and vehicle control range, desirable trajectory planning information can be obtained, leading to favorable predictive control decision-making, reducing hysteresis caused by feedback control, and improving vehicle performance.

[0288] In some embodiments, a first vehicle component and a second vehicle component are interconnected within at least one of several different functional domains.

[0289] In other words, vehicle components within at least one of multiple functional domains are interconnected. For example, as shown in Figure 15, vehicle components within the first functional domain 21 may be interconnected via a local area network such as CAN, and then connected to the central controller 10 via the same local area network.

[0290] Thus, by interconnecting at least two vehicle components within a domain, mutual information sharing between interconnected components within the same functional domain can be achieved. This allows for the maintenance of at least some functions within the functional domain in the event of a central controller failure, thereby improving vehicle driving safety. Furthermore, by interconnecting the vehicle components before connecting them to the central controller, the length of the harness can be reduced, lowering the cost of the vehicle control system.

[0291] In some embodiments, vehicle components in each functional domain are interconnected.

[0292] In other words, vehicle components within each of the multiple functional domains are interconnected. For example, as shown in Figure 15, vehicle components in the first functional domain 21 may be interconnected via a local area network such as CAN and then connected to the central controller 10 via the local area network such as CAN; vehicle components in the second functional domain 22 may be interconnected via a local area network such as CAN and then connected to the central controller 10 via the local area network such as CAN; and vehicle components in the third functional domain 23 may be interconnected via a local area network such as CAN or Ethernet and then connected to the central controller 10 via the local area network such as CAN or Ethernet.

[0293] In this way, the interconnection of at least two vehicle components within a domain allows for the maintenance of at least some functions in each functional domain in the event of a central controller failure, thereby improving the driving safety of the vehicle.

[0294] In some embodiments, at least one vehicle component within a different functional domain among several different functional domains is interconnected.

[0295] In other words, vehicle components in different functional domains may be interconnected. For example, as shown in Figure 15, at least one vehicle component in the first functional domain 21 and at least one vehicle component in the second functional domain 22 may be connected in a communicative manner, i.e., the first functional domain 21 and the second functional domain 22 may be connected independently in a communicative manner, and the communication may be via a local area network such as CAN; at least one vehicle component in the first functional domain 21 and at least one vehicle component in the third functional domain 23 may be connected in a communicative manner, i.e., the first functional domain 21 and the third functional domain 23 may be connected independently in a communicative manner; and at least one vehicle component in the second functional domain 22 and at least one vehicle component in the third functional domain 23 may be connected in a communicative manner, i.e., the second functional domain 22 and the third functional domain 23 may be connected independently in a communicative manner.

[0296] In this way, by interconnecting vehicle components within different functional domains, vehicle functionality can be expanded and vehicle performance can be improved. For example, the first functional domain 21 is the power domain, and the second functional domain 22 is the intelligent driving domain. Since the intelligent driving domain can communicate with the power domain, the intelligent driving domain can control the power domain, thereby realizing vehicle drive, brake, and steering control. Exemplarily, an intelligent driving controller within the intelligent driving domain can communicate with a motor controller within the power domain. In intelligent driving mode, the intelligent driving controller sends corresponding commands to the motor controller based on control needs, and the motor controller independently controls the corresponding drive motor to perform the corresponding operation, thereby realizing vehicle drive, brake, and steering control. In this way, the cooperation between the intelligent driving domain and the power domain can improve vehicle performance by realizing redundant driving, stopping, and steering in intelligent driving mode.

[0297] Furthermore, for example, the second functional domain 22 is an intelligent driving domain, and the third functional domain 23 is a chassis domain. Since the intelligent driving domain can communicate with the chassis domain, the intelligent driving domain can control the chassis domain, thereby realizing vehicle brake and steering control. Exemplarily, the intelligent driving controller in the intelligent driving domain can communicate with the brake controller and steering controller in the chassis domain. In intelligent driving mode, the intelligent driving controller sends corresponding commands to the brake controller and steering controller based on the control needs. The brake controller applies the brakes and the steering controller performs the steering, thereby realizing vehicle brake and steering control. In this way, the cooperation between the intelligent driving domain and the chassis domain improves vehicle performance by realizing redundant stopping and steering in intelligent driving mode.

[0298] Furthermore, for example, if the first functional domain 21 is a power domain and the second functional domain 22 is a chassis domain, the chassis domain controls the power domain to realize vehicle driving, braking, and steering control, or the power domain controls the chassis domain to realize vehicle braking and steering control. Exemplarily, the brake controller and steering controller of the chassis domain can communicate with the motor controller of the power domain, and in a non-intelligent driving mode, the brake controller or steering controller sends a corresponding command to the motor controller based on the control demand, and the motor controller controls the drive motor to perform the corresponding operation to realize vehicle driving, braking, and steering control, or the motor controller sends a corresponding command to the brake controller and steering controller based on the control demand, and the brake controller applies the brakes and the steering controller performs the steering to realize vehicle braking and steering control. In this way, the cooperation between the chassis domain and the power domain can realize redundant driving, stopping, and steering of the vehicle in a non-intelligent driving mode, thereby improving the performance of the vehicle.

[0299] In the above-described embodiments, vehicle performance can be further improved by enabling direct control between multiple functional domains through mutual communication between them. Information within each domain is shared, and controllers between at least two different domains are directly connected, resulting in relatively complete vehicle functionality and ensuring the safe, controllable driving or stopping of the vehicle in the event of a central controller failure.

[0300] In some embodiments, at least one vehicle component in at least one of several different functional domains is configured to transmit control information to at least one vehicle component in another of several different functional domains if the central controller 10 fails.

[0301] Specifically, since different functional domains can communicate with each other and each functional domain has independent decision-making or execution capabilities, if the central controller 10 fails, safety control for the vehicle can be achieved by different functional domains.

[0302] For example, the first functional domain 21 is the power domain, and the second functional domain 22 is the intelligent driving domain. If the central controller 10 fails, the intelligent driving domain sends control commands to the power domain, and the vehicle can be safely stopped by implementing brake and steering control of the vehicle using the power architecture of the four motors in the power domain. For example, the intelligent driving controller in the intelligent driving domain sends forward or reverse torque of each drive motor to the motor controller in the power domain, thereby controlling the operation of each drive motor by the motor controller and implementing brake and steering control of the vehicle.

[0303] Furthermore, for example, the second functional domain 22 is an intelligent driving domain, and the third functional domain 23 is a chassis domain. If the central controller 10 fails, the intelligent driving domain sends control commands to the chassis domain, and the chassis domain implements brake and steering control of the vehicle, thereby enabling the vehicle to be safely stopped. For example, the intelligent driving controller in the intelligent driving domain sends the brake torque of each wheel to the brake controller in the chassis domain, thereby enabling brake control of the vehicle by controlling the operation of the brakes corresponding to each wheel.

[0304] Furthermore, for example, if the first functional domain 21 is a power domain and the second functional domain 22 is a chassis domain, the central controller 10 will fail, and the chassis domain will send control commands to the power architecture of the four motors in the power domain, so that the braking capacity of the chassis domain is insufficient, the steering capacity is insufficient, or both the braking and steering capacity are insufficient, the vehicle can be safely stopped by realizing brake and steering control of the vehicle through the cooperation of the power domain. Alternatively, if the power domain sends control commands to the chassis domain, so that the braking capacity of the power domain is insufficient, the steering capacity is insufficient, or both the braking and steering capacity are insufficient, the vehicle can be safely stopped by realizing brake and steering control of the vehicle through the cooperation of the chassis domain. For example, if the braking capacity of the chassis domain is insufficient, the brake controller of the chassis domain will send a control command including the brake torque to be supplemented to the motor controller of the power domain, so that the motor controller controls each drive motor to provide the brake torque to be supplemented, thereby realizing brake control of the vehicle through the cooperation of the power domain. Note that other cases will not be explained in detail here.

[0305] In the above embodiment, mutual communication between multiple functional domains enables direct control between the multiple functional domains in the event of a central controller failure, thereby maximizing vehicle safety control.

[0306] In some embodiments, the multiple different functional domains include a second functional domain 22, which is an intelligent driving domain, and in the event of a failure of the central controller 10, the intelligent driving controller in the intelligent driving domain sends brake and / or steering control commands to the drive assembly in the power domain to perform brake and / or steering control on the vehicle.

[0307] Specifically, the intelligent driving domain and the power domain have independent decision-making or execution capabilities. If the central controller 10 fails, the intelligent driving domain can send a brake control command, a steering control command, or a brake and steering control command to the power domain, thereby safely stopping the vehicle and safely steering it by performing brake control, steering control, or brake and steering control on the vehicle.

[0308] For example, as described above, the intelligent driving domain includes multiple sensing components and an intelligent driving controller, the intelligent driving controller can pre-process sensing information from the sensing components, and if the central controller 10 fails, the intelligent driving controller further processes the pre-processed information to obtain a corresponding brake control command, steering control command, or brake and steering control command, transmits the brake control command, steering control command, or brake and steering control command to multiple drive assemblies in the power domain, and the motor controllers in the multiple drive assemblies control the drive motors of each wheel to realize brake control, steering control, or brake and steering control of the vehicle, thereby enabling the vehicle to be safely stopped and safely steered.

[0309] Thus, based on an independent, communicative connection between the intelligent driving domain and the power domain, if the central controller fails, the cooperation between the intelligent driving domain and the power domain enables redundant stopping of the vehicle in intelligent driving mode, thereby maximizing vehicle safety control.

[0310] In some other embodiments, the multiple different functional domains further include a second functional domain 22 and a third functional domain 23, where the second functional domain 22 is an intelligent driving domain and the third functional domain 23 is a chassis domain, and in the event of a failure of the central controller 10, the intelligent driving controller in the intelligent driving domain transmits brake and / or steering control commands to the brake system and / or steering system in the chassis domain to perform brake and / or steering control on the vehicle.

[0311] Specifically, the intelligent driving domain and the chassis domain have independent decision-making or execution capabilities. If the central controller 10 fails, the intelligent driving domain can send a brake control command, a steering control command, or a brake and steering control command to the chassis domain, thereby safely stopping the vehicle and safely steering it by performing brake control, steering control, or brake and steering control on the vehicle.

[0312] For example, as described above, the intelligent driving domain includes multiple sensing components and an intelligent driving controller, the intelligent driving controller can pre-process sensing information from the sensing components, and if the central controller 10 fails, the intelligent driving controller further processes the pre-processed information to obtain a corresponding brake control command, steering control command, or brake and steering control command, transmits the brake control command, steering control command, or brake and steering control command to the brake system and steering system of the chassis domain, the brake controller in the brake system controls the brakes on each wheel, and in cooperation with the steering system, brake control, steering control, or brake and steering control of the vehicle is realized, thereby enabling the vehicle to be safely stopped and safely steered.

[0313] Thus, based on an independent, communicative connection between the intelligent driving domain and the chassis domain, if the central controller fails, the cooperation between the intelligent driving domain and the chassis domain enables redundant vehicle stopping in intelligent driving mode, thereby maximizing vehicle safety control.

[0314] In some other embodiments, the multiple different functional domains further include a second functional domain 22, which is a chassis domain, and in the event of a failure of the central controller 10, the drive assembly in the power domain transmits brake and / or steering control commands to the brake system and steering system in the chassis domain to perform brake and / or steering control on the vehicle, and the drive assembly includes a motor controller and a plurality of drive motors that are provided in one-to-one correspondence with the wheels and drive the wheels independently.

[0315] Specifically, the power domain and chassis domain have independent decision-making or execution capabilities. If the central controller 10 fails, the power domain can send a brake control command, a steering control command, or a brake and steering control command to the chassis domain, thereby safely stopping the vehicle and safely steering it by performing brake control, steering control, or brake and steering control on the vehicle.

[0316] For example, as described above, the power domain includes multiple drive assemblies, each drive assembly includes a motor controller, and the motor controllers of the multiple drive assemblies can communicate with each other and pre-process information such as the actual drive torque and rotational change information of the corresponding wheels. If the central controller 10 fails, one of the motor controllers can further process the pre-processed information to obtain a corresponding brake control command, steering control command, or brake and steering control command. Based on the brake control command, steering control command, or brake and steering control command, another motor controller can control the drive motor of each wheel to realize brake control, steering control, or brake and steering control. If, during the control process, the drive motor of each wheel is unable to meet the brake demand, steering demand, or brake and steering demand, one of the motor controllers can further transmit a brake control command, steering control command, or brake and steering control command to the brake system and steering system of the chassis domain. The brake controller in the brake system controls the brakes of each wheel, and in cooperation with the steering system, brake control, steering control, or brake and steering control of the vehicle can be realized, thereby safely stopping and steering the vehicle.

[0317] In this way, if the central controller fails, maximum safety control of the vehicle can be achieved based on an independent, communicative connection between the power domain and the chassis domain.

[0318] In some other embodiments, the multiple different functional domains further include a second functional domain 22, which is a chassis domain, and in the event of a failure of the central controller 10, the steering system and / or brake system in the chassis domain transmits brake and / or steering control commands to the drive assembly in the power domain to perform brake and / or steering control on the vehicle.

[0319] Specifically, the power domain and chassis domain have independent decision-making or execution capabilities, and in the event of a failure of the central controller 10, the brake system, steering system, or brake and steering system within the chassis domain can transmit brake control commands, steering control commands, or brake and steering control commands to the power domain, thereby safely stopping and steering the vehicle by performing brake control, steering control, or brake and steering control on the vehicle.

[0320] For example, as mentioned above, the chassis domain includes a brake system and a steering system. The brake controller in the brake system can pre-process information such as the actual brake torque of each wheel, wheel speed, and the vehicle's six-degree-of-freedom inertia. The steering controller in the steering system can pre-process information such as the wheel rotation angle of each wheel. The brake controllers can communicate with the steering controllers. If the central controller 10 fails, it can further process the information after pre-processing to obtain a corresponding brake control command, steering control command, or brake and steering control command. Based on the brake control command, steering control command, or brake and steering control command, it can control the brakes of each wheel and, in cooperation with the steering controller, realize brake control, steering control, or brake and steering control. If, during the control process, the braking force and steering force provided by the brake system and steering system are insufficient to meet the braking demand, steering demand, or brake and steering demand, the brake controller further transmits brake control commands, steering control commands, or brake and steering control commands to multiple drive assemblies in the power domain, and the motor controllers in the multiple drive assemblies control the drive motors of each wheel, thereby enabling brake control, steering control, or brake and steering control of the vehicle, and allowing the vehicle to be safely stopped and safely steered.

[0321] In this way, if the central controller fails, maximum safety control of the vehicle can be achieved based on an independent, communicative connection between the power domain and the chassis domain.

[0322] In some embodiments, the central controller 10 transmits third control information to at least one vehicle component, and the third control information instructs the vehicle component to feed back data information to the central controller 10.

[0323] Specifically, the central controller 10, as the core of the system, can transmit second control information to each functional domain, and the second control information may be a data acquisition command, which controls vehicle components to feed back data information to the central controller 10. For example, the central controller 10 can transmit a data acquisition command to sensing components such as radar and cameras in the intelligent driving domain, and after receiving the data acquisition command, the sensing components such as radar and cameras in the intelligent driving domain feed back data information to the central controller 10. The second control information may also be an execution command, which controls vehicle components to perform the corresponding operation. For example, the central controller 10 can transmit a control request to a motor controller in the power domain, and when the motor controller in the power domain receives the control request, it controls the drive motor to perform the corresponding operation. For example, the control request may be torque distribution information for the drive motors corresponding to each wheel, determined based on the vehicle driving scene, and the motor controller controls the corresponding drive motor to output forward torque or negative torque based on the torque distribution information.

[0324] In this way, coordinated control of multiple functional domains by a central controller can be achieved.

[0325] In some embodiments, the central controller 10 further enables the mutual transmission of data between different functional domains.

[0326] Specifically, each functional domain has independent decision-making or execution capabilities, and each corresponding functional domain has the data necessary to make or execute decisions independently. The central controller 10 acts as a gateway, enabling the mutual transmission of necessary data between each functional domain and meeting the data demands of each functional domain. In this way, data redundancy is achieved, and the dependence of each functional domain on a single sensor is reduced, thereby improving data security and robustness.

[0327] For example, in the power domain, each drive motor is provided with a resolver, and the wheel speed of each wheel can be obtained based on the rotational change information output from the resolver. In the chassis domain, each wheel is provided with a wheel speed sensor, and the wheel speed of each wheel can be obtained by the wheel speed sensor. If the resolver in the power domain fails, the central controller 10 transmits the wheel speed output from the wheel speed sensor in the chassis domain to the power domain, thereby achieving data redundancy in the power domain. Similarly, if the wheel speed sensor in the chassis domain fails, the central controller 10 transmits the wheel speed from the power domain to the chassis domain, thereby achieving data redundancy in the chassis domain.

[0328] In this way, by enabling the mutual transmission of data between different functional domains through a central controller, data redundancy can be achieved, thereby improving data security and robustness.

[0329] In some embodiments, the multiple different functional domains further include a second functional domain 22, which is a chassis domain, and the central controller 10 transmits brake and / or steering control commands to the drive assembly of the power domain to perform brake and / or steering control on the vehicle if the brake system and / or steering system in the chassis domain fails.

[0330] In other words, if the chassis domain fails, the central controller 10 transmits a brake control command, a steering control command, or a brake and steering control command to the power domain, thereby enabling the vehicle to be safely stopped and safely steered by performing brake control, steering control, or brake and steering control on the vehicle.

[0331] For example, if the chassis domain fails and braking is required, the central controller 10 generates a corresponding brake control command, sends the brake control command to multiple drive assemblies in the power domain, and the motor controllers in the multiple drive assemblies control the drive motors of each wheel, thereby realizing brake control of the vehicle and enabling the vehicle to stop safely. If steering is required, the central controller 10 generates a corresponding steering control command, sends the steering control command to multiple drive assemblies in the power domain, and the motor controllers in the multiple drive assemblies control the drive motors of each wheel, thereby realizing steering control of the vehicle and enabling safe steering. If both braking and steering are required, the central controller 10 generates corresponding brake and steering control commands, sends the brake and steering control commands to multiple drive assemblies in the power domain, and the motor controllers in the multiple drive assemblies control the drive motors of each wheel, thereby realizing brake and steering control of the vehicle and enabling safe stopping and steering.

[0332] In some embodiments, the motor controller, in response to a brake command, determines the reverse torque of the drive motor and controls the drive motor based on the reverse torque to perform brake control on the vehicle, and / or, in response to a steering control command, determines the reverse or forward torque of the drive motor and controls the drive motor based on the reverse or forward torque to perform steering control on the vehicle.

[0333] For example, as described above, the power domain includes a plurality of drive assemblies, each drive assembly including two drive motors and one motor controller, each drive motor corresponding to one wheel, and the motor controller provides independent control for the two drive motors so that the two drive motors each control the corresponding wheel. When the central controller 10 controls the vehicle using the power domain, it can further realize brake control, steering control, or brake and steering control of the vehicle by sending brake and steering control commands to the motor controllers of each drive assembly, and having the motor controllers control the drive motors corresponding to each wheel.

[0334] For example, if braking is required, the central controller 10 can send a brake command to the motor controller. When the motor controller receives the brake command, it determines the reverse torque of the drive motor based on the brake command and controls the drive motor based on the reverse torque to perform brake control on the vehicle. For example, when the vehicle brakes in a straight line, the vehicle can be safely stopped by ensuring that the reverse torque of the drive motors corresponding to each wheel is the same. If steering is required, the central controller 10 can send a steering control command to the motor controller. When the motor controller receives the steering control command, it controls the steering. Based on a command, the system determines the reverse or forward torque of the drive motor and controls the drive motor based on the reverse or forward torque to perform steering control on the vehicle. For example, by locking the inner steering front wheel, applying forward torque to the outer steering front wheel and outer steering rear wheel, and applying reverse torque to the inner steering rear wheel, stationary steering around the vehicle's approximate center of gravity can be achieved. Alternatively, by applying forward torque to the inner and outer steering wheels, and making the forward torque of the inner steering wheel less than the forward torque of the outer steering wheel, steering at a large turning radius of the vehicle can be achieved.

[0335] In this way, by realizing the necessary brakes and steering for the vehicle based on a power architecture of four motors, vehicle safety control can be maximized and the vehicle's safety performance in emergency situations can be improved. Furthermore, when motor controllers for multiple drive assemblies are connected, the motor controllers can further ensure safe operation of the vehicle even if fewer than three drive motors fail, thereby improving safety performance in emergency situations.

[0336] As described above, the vehicle control system according to the embodiment of this disclosure is a safety control system architecture in which a power domain based on a power architecture of four motors is the main execution body, the chassis domain is the support execution body, the intelligent driving domain is the main environment sensing body, the central controller is the information fusion and main decision-making system, and sensing information is shared. Based on this architecture, by sensing and fusing data from multiple functional domains with the central controller, vehicle state data, ground state data, etc. can be accurately acquired and predictive, and by combining the execution capabilities of the power architecture of the four motors, vehicle steering, yawing, longitudinal and preview control can be rapidly realized, thereby ensuring vehicle safety.

[0337] In some embodiments, a vehicle control method is further provided. The vehicle includes a plurality of vehicle components, the plurality of vehicle components belonging to a plurality of different functional domains, the first functional domain in the plurality of different functional domains being a power domain, the vehicle components within the power domain including a drive assembly, the drive assembly including a motor controller and a plurality of drive motors provided in one-to-one correspondence with the wheels and driving the wheels independently.

[0338] As shown in Figure 16, the vehicle control method is: Step S101 identifies the vehicle driving scene, The process includes step S102, which transmits torque distribution information for each drive motor to the motor controller based on the vehicle driving scene.

[0339] The above-described examples of the vehicle control system and their beneficial effects also apply to the vehicle control method according to the embodiments of this disclosure, and therefore, in order to avoid redundancy, they will not be described in detail here.

[0340] In some embodiments, a vehicle controller is further provided. As shown in Figure 17, the vehicle controller 1000 includes a memory 1100, a processor 1200, and a program stored in the memory 1100 and executable by the processor 1200, and when the processor 1200 executes the program, the aforementioned vehicle control method is realized.

[0341] The above-described examples of the vehicle control system and their beneficial effects also apply to the vehicle controller according to the embodiments of this disclosure, and therefore, in order to avoid redundancy, they will not be described in detail here.

[0342] Embodiments of this disclosure further provide a vehicle. As shown in Figure 18, the vehicle 2000 includes the aforementioned vehicle control system 2100. The vehicle 2000 may be a pure electric vehicle, a hybrid vehicle, or the like, and is not specifically limited herein.

[0343] The above-described examples of the vehicle control system and their beneficial effects also apply to the vehicle according to the embodiments of this disclosure, and therefore, in order to avoid redundancy, they will not be described in detail here.

[0344] Furthermore, logic and / or steps shown in flowcharts or otherwise described in this disclosure may be considered, for example, as an ordered list of executable instructions for implementing a logic function, which may be specifically implemented on any computer-readable medium and used by an instruction execution system, device or apparatus (e.g., a computer-based system, a system including a processor, or other system capable of reading and executing instructions from an instruction execution system, device or apparatus), or used in combination with such instruction execution systems, devices or apparatus. In this specification, “computer-readable medium” may be any device capable of storing, storing, communicating, propagating or transmitting a program for use by or in combination with such instruction execution systems, devices or apparatus. More specific examples of computer-readable mediums (a non-exclusive list) include electrical connections with one or more wires (electronic devices), portable computer disk boxes (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and portable read-only memory (CDROM). Furthermore, the computer-readable medium may also be paper or other suitable medium on which the program can be printed, for example, by optically scanning paper or other medium, then editing and interpreting it, or processing it in any other suitable manner, and subsequently storing it in computer memory.

[0345] It should be understood that each part of this disclosure can be implemented by hardware, software, firmware, or a combination thereof. In the embodiments described above, several steps or methods can be implemented by software or firmware stored in memory and executed by an appropriate instruction execution system. For example, when implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of known technologies in the art, such as discrete logic circuits having logic gate circuits for implementing logic functions for data signals, application-specific integrated circuits having appropriate combination logic gate circuits, programmable gate arrays (PGAs), and field-programmable gate arrays (FPGAs).

[0346] In this specification, any description referring to terms such as “one embodiment,” “several embodiments,” “example,” “specific example,” or “several examples” means that the specific features, structures, materials, or properties described in combination with such embodiment or example are included in at least one embodiment or example of this disclosure. In this specification, the exemplary expressions of the above terms are not necessarily limited to the same embodiment or example. Furthermore, the specific features, structures, materials, or properties described may be appropriately combined in any one or more embodiments or examples.

[0347] Furthermore, the terms “First” and “Second” are for descriptive purposes only and should not be understood as indicating or suggesting relative importance, or implicitly indicating the number of technical features shown. Thus, features limited by “First” and “Second” may explicitly or implicitly include at least one such feature. In the description of this disclosure, “multiple” means at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0348] In this disclosure, unless explicitly stated and limited, terms such as “attached,” “connected,” “connected,” and “fixed” should be understood broadly, and unless explicitly limited, they may include, for example, fixed connections, detachable connections, or integral connections; they may be mechanical connections or electrical connections; they may be direct connections or indirect connections via an intermediate medium; or they may be internal communication between two parts or an interaction between two parts. Those skilled in the art will be able to understand the specific meaning of these terms in this disclosure based on the specific circumstances.

[0349] Although embodiments of the present disclosure have been shown and explained above, these embodiments are illustrative and should not be understood as limiting the present disclosure. Those skilled in the art can modify, alter, replace, and change the embodiments within the scope of the present disclosure.

Claims

1. Including a central controller and multiple vehicle components, Multiple vehicle components belong to multiple different functional domains, and each vehicle component within a functional domain is directly connected to the central controller. The central controller transmits first control information to at least one vehicle component. In the multiple different functional domains, the first functional domain is a power domain, and the vehicle components within the power domain include a drive assembly, the drive assembly includes a motor controller and a plurality of drive motors provided one-to-one with the wheels and driving the wheels independently, and the first control information includes at least torque distribution information for each drive motor. The central controller transmits torque distribution information to the motor controller based on the vehicle driving scene. The torque distribution information includes at least the target torque of each drive motor. The aforementioned target torque includes the positive / negative torque and the torque magnitude. The aforementioned central controller further, Based on the vehicle driving scene, the total demand torque of each drive motor is obtained, and based on the vehicle state information of the vehicle in the current driving scene, the total demand torque is distributed to obtain the target torque of each drive motor. The aforementioned vehicle driving scene includes a scene of a vehicle getting a flat tire. The central controller acquires the target corrected reverse torque for each drive motor based on the vehicle puncture scene, and acquires the target corrected reverse torque for each drive motor by distributing the target corrected reverse torque based on the vehicle state information in the vehicle puncture scene. The central controller further determines the reverse torque distribution coefficient for each drive motor based on the vehicle steering state and the vehicle state information, and determines the target reverse torque for each drive motor based on the reverse torque distribution coefficient and the target corrected reverse torque. The aforementioned central controller is If the vehicle steering state is understeer, the reverse torque distribution coefficient of the drive motor corresponding to the punctured wheel is zero, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel is greater than zero, and the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel on the same side as the punctured wheel is determined to be the highest. When the vehicle steering state is an oversteer state, the reverse torque distribution coefficient of the drive motor corresponding to the punctured wheel is zero, and the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel is greater than zero. Furthermore, if a front wheel is punctured, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel coaxial with the punctured wheel is the highest. If a rear wheel is punctured, the reverse torque distribution coefficient of the drive motor corresponding to the normal front wheel on the opposite side from the punctured wheel is the highest. Vehicle control system.

2. The central controller determines a first corrected reverse torque based on the current vehicle speed, a second corrected reverse torque based on the difference between the target yaw rate and the current yaw rate, and a target corrected reverse torque based on the first corrected reverse torque and the second corrected reverse torque. The vehicle control system according to claim 1.

3. The central controller further acquires the total demand torque of each drive motor and determines the target torque of each drive motor based on the total demand torque and target reverse torque of each drive motor. The vehicle control system according to claim 1.

4. The aforementioned vehicle driving scene includes a scene of the vehicle levitating, When the vehicle is in a levitation state, the central controller uses a motion control algorithm to determine the pre-controlled torque and torque correction amount for each wheel based on the target yaw rate, the current yaw rate, the pre-controlled target wheel speed for each wheel, and the current wheel speed, and then determines the target torque for each drive motor based on the pre-controlled torque and torque correction amount for each wheel. The vehicle control system according to claim 1.

5. The aforementioned central controller is When the vehicle is in a levitation state and no steering is performed, the target wheel speed correction amount is determined using the first motion control algorithm based on the target yaw rate and the current yaw rate, and the target yaw rate is determined based on the current vehicle speed and steering wheel rotation angle. The central controller further determines the torque correction amount using a second motion control algorithm based on the target wheel speed correction amount, the pre-controlled target wheel speed, and the current wheel speed, and the pre-controlled target wheel speed and the pre-controlled torque are determined based on accelerator information. The vehicle control system according to claim 4.

6. The aforementioned central controller is When the vehicle is in a levitation state and the steering is performed in driver mode, the target wheel speed correction amount is determined using the first motion control algorithm based on the target yaw rate and the current yaw rate, and the target yaw rate is determined based on accelerator information and the initial target yaw rate. The central controller further determines the torque correction amount using a second motion control algorithm based on the target wheel speed correction amount, the pre-controlled target wheel speed, and the current wheel speed, and the pre-controlled target wheel speed and the pre-controlled torque are determined based on the target yaw rate. The vehicle control system according to claim 4.

7. The aforementioned central controller is When the vehicle is in a levitation state and performing a stationary steering maneuver in automatic mode, the target wheel speed correction amount is determined using the first motion control algorithm based on the vehicle's target rotation angle, the target yaw rate, and the current yaw rate. The central controller further determines the torque correction amount using a second motion control algorithm based on the target wheel speed correction amount, the pre-controlled target wheel speed, and the current wheel speed, and the pre-controlled target wheel speed and the pre-controlled torque are determined based on the target yaw rate. The vehicle control system according to claim 4.

8. The aforementioned vehicle driving scene includes a scene of preventing vehicle slippage. The central controller, when the vehicle is in a vehicle slip prevention scene, acquires the adjustment torque of each wheel, determines the front axle adjustment torque and rear axle adjustment torque based on the adjustment torque of each wheel, and determines the target torque of each drive motor based on the front axle adjustment torque and rear axle adjustment torque. The vehicle control system according to claim 1.

9. The aforementioned central controller is If at least one of the front axle wheels slips, the front axle adjustment torque is determined based on the maximum adjustment torque of the front axle wheel, and the rear axle adjustment torque is determined based on the maximum adjustment torque of the front axle wheel and the rear wheel. If none of the front axle wheels are slipping, the rear axle adjustment torque is determined based on the maximum adjustment torque of the rear axle wheels, and the front axle adjustment torque is set to zero. The vehicle control system according to claim 8.

10. The aforementioned central controller is If the torque directions of the inner and outer steering wheels of the vehicle are opposite, the target torque of the drive motor corresponding to the front axle wheel is determined based on the wheel end torque of the front axle wheel before slip prevention control intervention and the front axle adjustment torque, and the target torque of the drive motor corresponding to the rear axle wheel is determined based on the wheel end torque of the rear axle wheel before slip prevention control intervention and the rear axle adjustment torque. When the torque direction of the inner and outer steering wheels of the vehicle is the same, the target torque of the drive motor corresponding to the front axle wheel is determined based on the relationship between the difference between the wheel end torque before slip prevention control intervention of the front axle wheel and the front axle adjustment torque and zero, and the target torque of the drive motor corresponding to the rear axle wheel is determined based on the relationship between the difference between the wheel end torque before slip prevention control intervention of the rear axle wheel and the rear axle adjustment torque and zero. The vehicle control system according to claim 8.

11. A vehicle control method, The aforementioned vehicle includes multiple vehicle parts, The aforementioned multiple vehicle components belong to multiple different functional domains, In the multiple different functional domains, the first functional domain is a power domain, The vehicle components within the power domain include a drive assembly, The drive assembly includes a motor controller and a plurality of drive motors that are provided in one-to-one correspondence with the wheels and drive the wheels independently. The aforementioned method, Steps to identify a vehicle driving scene, The steps include transmitting torque distribution information for each drive motor to the motor controller based on the vehicle driving scene, Includes, The torque distribution information includes at least the target torque of each drive motor. The aforementioned target torque includes the positive / negative torque and the torque magnitude. The above method further, Based on the vehicle driving scene, the total demand torque of each drive motor is obtained, and based on the vehicle state information of the vehicle in the current driving scene, the total demand torque is distributed to obtain the target torque of each drive motor. The aforementioned vehicle driving scene includes a scene of a vehicle getting a flat tire. The method obtains a target corrected reverse torque for each drive motor based on the vehicle puncture scene, and obtains a target reverse torque for each drive motor by distributing the target corrected reverse torque based on the vehicle state information in the vehicle puncture scene. The method further determines the reverse torque distribution coefficient of each drive motor based on the vehicle steering state and the vehicle state information, and determines the target reverse torque of each drive motor based on the reverse torque distribution coefficient and the target corrected reverse torque. The aforementioned method, If the vehicle steering state is understeer, the reverse torque distribution coefficient of the drive motor corresponding to the punctured wheel is zero, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel is greater than zero, and the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel on the same side as the punctured wheel is determined to be the highest. When the vehicle steering state is an oversteer state, the reverse torque distribution coefficient of the drive motor corresponding to the punctured wheel is zero, and the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel is greater than zero. Furthermore, if a front wheel is punctured, the reverse torque distribution coefficient of the drive motor corresponding to the normal wheel coaxial with the punctured wheel is the highest. If a rear wheel is punctured, the reverse torque distribution coefficient of the drive motor corresponding to the normal front wheel on the opposite side from the punctured wheel is the highest. Vehicle control method.

12. It includes memory, a processor, and a program stored in the memory and executable by the processor, When the processor executes the program, it realizes the vehicle control method described in claim 11. Vehicle controller.

13. A vehicle control system according to any one of claims 1 to 10, vehicle.

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